六自由度转台铰点坐标的求解  

Solution to joint points coordinates of a six DOF platform

作　　者：赵强[1] 李洪人[1] 王丽洁[1] 

机构地区：[1]哈尔滨工业大学,黑龙江哈尔滨150001

出　　处：《煤矿机械》2002年第6期13-15,共3页Coal Mine Machinery

摘　　要：实际的六自由度转台存在着制造和安装误差 ,转台各个铰点的实际坐标与理论值之间会有偏差。提出了一种基于测量和优化来求解各铰点实际坐标的方法 ,用解得的实际坐标值代替理论座标值能够减小转台的位姿误差。Because the manufacturing error and installing error exist in the actual six DOF platform,there is divergence between each joint point's actual coordinates and its theoretic values.A method to solve each joint's actual coordinates based on measurement and optimization is offered in this paper.The platform's orientation and pose error can be reduced when the theoretic coordinates values are replaced by the solved actual coordinates values.

关 键 词：铰点坐标 六自由度转台 位姿误差 制造误差 安装误差 

分 类 号：TH123[机械工程—机械设计及理论]