Program Examples:Robot tool calibration/zh-hans

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以下是在不存在的确定性世界坐标系点的情况下如何使用工具校准的示例。该过程包括将工具移动到特定位置几次但具有不同的姿态，这种测量的结果是围绕工具尖端的球体。数学表达式如下：

point1 = {X1, Y1, Z1}

point2 = {X2, Y2, Z2}

point3 = {X3, Y3, Z3}

point4 = {X4, Y4, Z4}

shpere: Const = (X-Xc)^2 + (Y-Yc)^2 + (Z-Zc)^2

Const = (X1-Xc)^2 + (Y1-Yc)^2 + (Z1-Zc)^2

Const = (X2-Xc)^2 + (Y2-Yc)^2 + (Z2-Zc)^2

Const = (X3-Xc)^2 + (Y3-Yc)^2 + (Z3-Zc)^2

Const = (X4-Xc)^2 + (Y4-Yc)^2 + (Z4-Zc)^2

| 2(x2-x1) 2(y2-y1) 2 z2-z1) | |Xc| = | X2^2 - X1^2 + Y2^2 - Y1^2 + Z2^2 - Z1^2 |

| 2(x3-x1) 2(y3-y1) 2 z3-z1) |*|Yc| = | X3^2 - X1^2 + Y3^2 - Y1^2 + Z3^2 - Z1^2 |

| 2(x4-x1) 2(y4-y1) 2 z4-z1) | |Zc| = | X4^2 - X1^2 + Y4^2 - Y1^2 + Z4^2 - Z1^2 |

[MatA] * vecB = vecC

vecB = [MatA]^-1 * vecC

' in proto.pro import_c RBT_TOOL_CALIBRATION_SPHERE(byval as generic location, byval as generic location, byval as generic location, byval as generic location, as generic location) as long


common shared locArr[5] as generic location 

program
	
	locArr[1] = puma.setpoint
	locArr[2] = puma.setpoint
	locArr[3] = puma.setpoint
	locArr[4] = puma.setpoint
	locArr[5] = puma.setpoint
	locArr[1] = #{0,0,20,0,0,0}
	locArr[2] = #{0,10,10,0,0,0}
	locArr[3] = #{10,0,10,0,0,0}
	locArr[4] = #{0,-10,10,0,0,0}
	locArr[5] = #{0,0,0,0,0,0}

	?RBT_TOOL_CALIBRATION_SPHERE(locArr[1], locArr[2], locArr[3], locArr[4], locArr[5])
	? "sphere center: " locArr[5]

end program