天津工业大学学报2013，Vol.32Issue(1)：75-78,4.
六自由度柔性测量臂关节零位偏差标定算法研究
Research of calibration algorithm of joint zero-position deviations for 6 DOF flexible measuring arm
摘要
Abstract
The joint zero-position deviations of multi-joint coordinate measuring arm resulting from assembly technology errors , have an enormous influence on measuring accuracy. The actual joint zero-position deviations, which will be used to compensate the theoretical joint angle, can be obtained by taking a high precision calibration method. Thus, the measuring accuracy can be improved. Firstly, the measuring model of 6 DOF flexible measuring arm is established, then on the basis of the measuring model, the error model based on the joint zero-position deviations is set up by applying total differential, and then a linear calibration method is obtained by applying least square and iterative algorithm. Finally, the correctness of the calibration method is validated by Matlab simulation.关键词
柔性测量臂/测量模型/误差模型/标定算法Key words
flexible measuring arm/ measuring model/ error model/ calibration algorithm分类
机械制造引用本文复制引用
胡鹏,金国光,隋修武,郭振锋..六自由度柔性测量臂关节零位偏差标定算法研究[J].天津工业大学学报,2013,32(1):75-78,4.基金项目
国家自然科学基金(51275352) （51275352）
天津市应用基础及前沿技术研究计划项目(09JCYBJC04600) （09JCYBJC04600）
