| 仿人关节式坐标测量机的数学建模及标定方法 |
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| 引用本文： | 王从军,魏霖,李中伟.仿人关节式坐标测量机的数学建模及标定方法[J].华中科技大学学报(自然科学版),2007,35(11):1-4. |
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| 作者姓名： | 王从军 魏霖 李中伟 |
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| 作者单位： | 华中科技大学,材料成形及模具技术国家重点实验室,湖北,武汉,430074 |
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| 摘 要： | 在Denavit-Hartenberg方法基础上,建立了关节式坐标测量机的数学模型,通过数学仿真实验结合图解法验证了数学模型的合理性.设计一种全新的标定块,采用最小二乘法和迭代法相结合的方法实现了参数的快速标定.结果表明:仿人关节式坐标测量机杆件的各项实际参数误差在所允许的范围内,具有较好的实用性和鲁棒性.
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| 关 键 词： | 仿人关节式坐标测量机 数学模型 参数标定 仿真实验 |
| 文章编号： | 1671-4512(2007)11-0001-04 |
| 修稿时间： | 2006年9月15日 |
Mathematical model and parametric calibration of apery multi-joint articulated coordinate measuring machine |
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| Wang Congjun,Wei Lin,Li Zhongwei.Mathematical model and parametric calibration of apery multi-joint articulated coordinate measuring machine[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2007,35(11):1-4. |
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| Authors: | Wang Congjun Wei Lin Li Zhongwei |
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| Abstract: | On the basis of Denavit-Hartenberg notation,a mathematical model for 6-freedom multi-joint coordinate measuring machine was built and its reasonableness was testified by the mathematics apery experiment and diagrammatizing method.A new calibration craft was designed and the parameters were calibrated through integrating the least squares method and the iterative arithmetic.The results show that the parametric error of poles was within the permited range and had good pract robustness. |
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| Keywords: | apery articulated coordinate measuring machine mathematical model parametric calibration diagrammatizing experiment |
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