Rapid self-judgement robot tool coordinate system calibrating method

The invention relates to a rapid self-judgement robot tool coordinate system calibrating method. The method comprises the steps that in a traditional attitude calibration method, a self-judgement mechanism is defined; and according to the dispersion degree of the actual position of the robot tool tail end center point under different attitudes, the accuracy of input data is determined. The method automatically removes input data with large deviation. The impact of operation errors on position calibration is reduced. A rapid attitude calibration method is provided. A robot is adjusted, so that the tool tail end is parallel to the Z axis of a base coordinate. The attitude transformation matrix, which is respect to the base coordinate system, of the tool coordinate system of the tool tail end can be acquired. The attitude transformation matrix which needs to be calibrated is calculated directly. A translation step and two data input points are omitted to make attitude calibration more rapid. 本发明涉及种快捷自判误机器人工具坐标系标