计量学报Issue(6)：595-598,4.DOI:10.3969/j.issn.1000-1158.2014.06.16
质量特性测量系统的运动学标定
KinematicaI CaIibration of Mass Property Measurement System
王超 1张晓琳 1唐文彦 1王军 1马强1
作者信息
- 1. 哈尔滨工业大学，黑龙江 哈尔滨150001
- 折叠
摘要
Abstract
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.关键词
计量学/质量特性测量/运动学/D-H模型/标定Key words
MetrOIOgy/Mass prOperty measurement/Kinematic/D-H mOdeI/CaIibratiOn分类
通用工业技术引用本文复制引用
王超,张晓琳,唐文彦,王军,马强..质量特性测量系统的运动学标定[J].计量学报,2014,(6):595-598,4.
