Kinematics Identification and Measurement Accuracy Verification of Articulated Arm Coordinate Measuring Machines

摘要

The Articulated Arm Coordinate Measuring Machine (AACMM) is a kind of coordinate measuring devices in the formof an articulated robot. To improve the accuracy of AACMM, a kinematic identification method is presented in this paper.Firstly, we perform the kinematics modeling and simulation to realize the kinematic transformation from the joint spaceto the coordinate space. Then, we establish an error model and use least squares method to identify kinematic parameters.And the effectiveness of the least squares method for kinematic parameter identification is studied. Finally, theexperiments of single point repeatability accuracy and the standard gauge accuracy are performed. The experimentalresults show that proposed the kinematic identification method can effectively improve the measurement accuracy of thejoint coordinate measuring machine.