| 一种关节式坐标测量机的建模及其标定 |
| |
| 引用本文： | 程文涛,于连栋,费业泰.一种关节式坐标测量机的建模及其标定[J].中国科学技术大学学报,2011,41(5). |
| |
| 作者姓名： | 程文涛 于连栋 费业泰 |
| |
| 作者单位： | 合肥工业大学仪器科学与光电工程学院,安徽合肥,230009 |
| |
| 摘 要： | 为了研究7轴关节式坐标测量机的测量模型及其标定技术,根据DH模型(Denavit-Hartenberg notation)对7轴关节式坐标测量机进行了建模,并对参数个数和含义进行了深入研究.通过仿真发现7轴关节式坐标测量机直接标定时不能有效辨识某些参数的特殊问题.为解决该问题,设计了弯杆测头对测量机的整机参数进行标定.最后,将测量机测头换回直杆测头进行测头校准,获得更换测头后的测头参数.实验表明该方法能够有效地辨识出测量机整机的参数,能有效保证测量机的精度,这也证明了给出的测量模型的正确性.
|
| 关 键 词： | 关节式坐标测量机 运动学模型 参数标定 |
Kinematic model and calibration of an articulated arm coordinate measuring machine |
| |
| CHENG Wentao,YU Liandong,FEI Yetai.Kinematic model and calibration of an articulated arm coordinate measuring machine[J].Journal of University of Science and Technology of China,2011,41(5). |
| |
| Authors: | CHENG Wentao YU Liandong FEI Yetai |
| |
| Institution: | CHENG Wentao,YU Liandong,FEI Yetai(School of Instrument Science and Opto-Electronics Engineering,Hefei University of Technology,Hefei 230009,China) |
| |
| Abstract: | Based on D-H(Denavit-Hartenberg) notation,the measurement model and calibration technology for a seven-axis articulated arm coordinate measuring machine(AACMM) were researched.The number and definitions of kinematic model parameters were further studied.Simulation experiments revealed a special problem: some parameters can not be effectively identified by direct calibration.To solve the problem,a vertical rod was made and fitted into the probe to identify all parameters of the seven-axis AACMM.Finally,the p... |
| |
| Keywords: | articulated arm coordinate measuring machine(AACMM) kinematic model parameter identify |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
