基于逆运动学的6-UPS并联机构运动学参数辨识方法

摘要

为了提高6-UPS并联机构的定位精度,研究了一种基于逆运动学的6-UPS并联机构运动学参数辨识方法.首先基于逆运动学建立了6-UPS并联机构的运动学参数辨识模型,然后通过Levenberg-Marquardt最小二乘法对模型进行求解,最后对该算法进行了仿真验证.结果表明该算法可以很快收敛,在测量设备没有测量误差的理想状态下,参数辨识精度达到10-10mm.在测量设备存在1μm、1″的误差状态下,参数辨识精度达到10-3mm,足以满足大部分应用场合下6-UPS的位姿精度要求.%A method of kinematic parameter identification for 6-UPS parallel robot using the inverse kinematics algo-rithm was proposed in order to improve the positioning accuracy of the 6-UPS parallel robot.Firstly,a model of kine-matic parameter identification for 6-UPS parallel robot using the inverse kinematics algorithm was built.Then the model was solved by the least square method of Levenberg-Marquardt.Finally, a simulation experiment for this method was conducted.The result of the simulation experiment shows that the algorithm can converge rapidly.The identification preci-sion of 10-10mm can be implement under the ideal condition that the measure instruments have no error.And the identifi-cation precision is 10-3mm under the condition that the measure instruments have the position error of 1micron and the gesture error of 1 arcsecond. The identification precision can meet the majority applicable situation of using the 6-UPS parallel robot.