质量特性测量系统的运动学标定

摘要

In the prOcess Of measuring mass prOperties,the measurement Of precisiOn is infIuenced by pOsitiOn accuracy directIy. The kinematics equatiOn Of the physicaI cOnstructiOn Of the equipment is estabIished with D-H transfOrmatiOn matrix. The reIatiOnaI equatiOn between equipment terminaI pOsitiOn errOr and Iink D-H parameter errOr is present. The caIibratiOn pOints pOsitiOn in different pOse are measured with Iaser tracker,then the reaI D-H parameters are Obtained by sOIving caIibratiOn equatiOn,which is estabIished by pOsitiOn errOr and JacObian matrix. In the end,the caIibrated resuIts are verified by simuIatiOn. The resuIt shOws that pOsitiOning accuracy Of the equipment is imprOved ObviOusIy thrOugh caIibrating.%质量特性测量过程中测量位姿的定位精度直接影响测量结果的精度。针对该问题利用D-H参数建立了系统机械结构的运动学方程，进而得到了终端产品坐标系的位置误差模型。利用激光跟踪仪测量产品坐标系上一点在不同位姿下的坐标，通过测量点的位置误差和D-H参数的雅克比矩阵建立标定方程，并求解得到系统实际的运动学参数。最后通过实验，对标定方法进行了验证，结果表明经过标定后的系统定位精度较标定前有明显的提高。