基于加权最小二乘法的大部件对接位姿评估算法研究

摘要

The technique of digital flexible assembly is one of the important research directions in the field of large parts manufacture. Aiming at large parts positioning and joining system supported by locators, many location data in large parts is measured through laser tracer. To solve the problem of points' mismatching and precision difference under different coordinate systems, an evaluation model for large parts' posture based on least square method is proposed and error allocation is optimized by adding weight for all points data.%本文以定位器支撑的大部件调姿系统为研究对象,通过激光跟踪仪测得大部件上多个测点坐标数据.针对各点在不同坐标系下测量点值不匹配且各点精度要求有差异的问题,提出了最小二乘法评估大部件位姿的模型,并利用权值实现对多个测点数据进行误差分配优化,为大型部件的位置姿态评估计算提供一套有效的解决方案.