六自由度柔性测量臂关节零位偏差标定算法研究

本资料包含pdf文件1个，下载需要1积分

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.多关节柔性测量臂的关节零位偏差是由于装配引起的系统误差，对测量精度的影响极大．采取高精度的标定方法，获得关节零位偏差的实际值，然后对关节转角的理论值进行补偿，可以提高测量精度．首先应用D―H建模方法，建立了六自由度柔性测量臂的测量模型，在测量模型的基础上，应用全微分法建立了基于关节零位偏差的误差模型，然后用最小二乘法和迭代算法，建立了柔性臂关节零位偏差的线性标定方法，最后通过Matlab仿真验证了该标定算法的正确性．