Revo测头的自适应测量算法及位置反解

为解决关节臂式三坐标测量机测量精度低的致命弊端,在三坐标测量系统中采用Revo测头.经分析系统的结构特点,确定了转动关节与测杆姿态的几何关系并构造测量时的接近矢量,实现测杆姿态的控制.在此基础上,提出一种基于初始姿态的自适应测量算法,根据数据点的坐标,求得测杆姿态最小变化量,结合位置方程求得该姿态下的位置反解.实验表明：该算法可实现测头姿态的精确控制和位置反解的计算,为具有Revo测头高自由度关节臂式三坐标测量系统的发展和运动学问题的深入研究奠定了理论基础.

Adaptive Measurement Algorithm of Revo Probe and Inverse Position

The Revo probe was used for the first time in coordinate measuring machine system to solve the problem of low accuracy for articulated ann coordinate measuring machine. The geometrical relationship was found between rota- tional joints and measuring bar through analysis of the structural features of system, and the approach vector was calculated according to this relationship. So the control of measuring bar＇s posture was realized. An algorithm of self- adaptation measuring was proposed based on measuring pole＇s initial posture. The minimum variation of posture was obtained on the basis of known coordinates of data. The calculation of inverse position was completed by the posi- tional equation. The experiment shows that the control of Revo probe＇s posture and inverse position are achievable through applying this algorithm. The theory foundation is built for the further research on the development and kine- matics of the articulated arm coordinate measuring system with high freedom and Revo probe.