质量特性测量系统的运动学标定  

KinematicaI CaIibration of Mass Property Measurement System

作　　者：王超[1] 张晓琳[1] 唐文彦[1] 王军[1] 马强[1] 

机构地区：[1]哈尔滨工业大学,黑龙江哈尔滨150001

出　　处：《计量学报》2014年第6期595-598,共4页Acta Metrologica Sinica

摘　　要：质量特性测量过程中测量位姿的定位精度直接影响测量结果的精度。针对该问题利用D-H参数建立了系统机械结构的运动学方程，进而得到了终端产品坐标系的位置误差模型。利用激光跟踪仪测量产品坐标系上一点在不同位姿下的坐标，通过测量点的位置误差和D-H参数的雅克比矩阵建立标定方程，并求解得到系统实际的运动学参数。最后通过实验，对标定方法进行了验证，结果表明经过标定后的系统定位精度较标定前有明显的提高。In the process of measuring mass properties, the measurement of precision is influenced by position accuracy directly. The kinematics equation of the physical construction of the equipment is established with D-H transformation matrix. The relational equation between equipment terminal position error and link D-H parameter error is present. The calibration points position in different pose are measured with laser tracker, then the real D-H parameters are obtained by solving calibration equation, which is established by position error and Jacobian matrix. In the end, the calibrated results are verified by simulation. The result shows that positioning accuracy of the equipment is improved obviously through calibrating.

关 键 词：计量学 质量特性测量 运动学 D-H模型 标定 

分 类 号：TB932[一般工业技术—计量学]