基于内点法实现关节式坐标测量机参数标定  

Parameter calibration for articulated arm coordinate measuring machine based on interior point algorithm

作　　者：潘志康[1,2] 祝连庆[1,2] 郭阳宽[1,2] Pan Zhikang;Zhu Lianqing;Guo Yangkuan(Beijing Key Laboratory of Optoelectronic Measurement Technology, Beijing Information Science ＆ Technology University, Beijing 100101, China;Beijing Engineering Research Center of Optoelectronic Information and Instruments, Beijing Information Science ＆ Technology University, Beijing 100016, China)

机构地区：[1]北京信息科技大学光电测试技术北京市重点实验室,北京100101 [2]北京信息科技大学光电信息与仪器北京市工程研究中心,北京100016

出　　处：《仪器仪表学报》2018年第3期117-123,共7页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金项目(51375057)资助

摘　　要：提出一种基于内点法的关节式坐标测量机参数自标定方法。首先,基于D-H方法,建立关节式坐标测量机的运动学模型,在此基础上建立参数误差模型。利用自制标定块,采用多位姿测量多点的方法获得标定用数据,从而使该标定方法能够在现场应用;以测量机的长度测量精度为基础建立目标函数,利用内点法进行参数辨识,该算法对迭代初值无要求,可有效提高参数标定成功率。通过标定实验得到坐标测量机的运动学参数,验证了该方法的可行性。经过标定后,关节式坐标测量机的单点重复性精度和长度测量精度分别提高了93.65倍和100.13倍。A parameter self-calibration method of articulated arm coordinate measuring machine（AACMM） based on interior point algorithm is proposed.Firstly,based on the D-H method,the kinematic model of AACMM is built,based on which the parametric error model is built.Using the calibration block made by ourselves,the calibration data are obtained through measuring the three-dimensional coordinates of multiple points with multiple positions and poses,so that the calibration method can be applied in the measurement field.The objective function is established on the basis of the length measurement accuracy of AACMM,and the parameter identification is carried out using interior point method.The algorithm has no requirement on the iterative initial value,which can effectively improve the success rate of parameter calibration.The kinematic parameters of AACMM were obtained through calibration experiment,which verifies the feasibility of the method.After calibration,the single point repeatability and length measurement accuracy of AACMM are improved by 93.65 times and 100.13 times,respectively.

关 键 词：关节式坐标测量机 参数标定 内点算法 约束优化 

分 类 号：TH721[机械工程—仪器科学与技术]