柔性臂测量机的圆光栅偏心参数标定算法  

Calibration algorithm of circular grating eccentricityparameters of flexible arm measuring machine

作　　者：朱嘉齐 章家岩 冯旭刚 Zhu Jiaqi;Zhang Jiayan;Feng Xugang(School of Electrical and Information Engineering,Anhui University of Technology,Ma’anshan 243032,China)

机构地区：[1]安徽工业大学电气与信息工程学院

出　　处：《电子测量与仪器学报》2019年第8期1-7,共7页Journal of Electronic Measurement and Instrumentation

基　　金：安徽省自然科学基金(1908085ME134);安徽省重点研究与开发计划项目(1804a09020094);安徽省高校自然科学研究重点项目(KJ2018A0054,KJ2018A0060)资助

摘　　要：柔性臂测量机的关节转角误差具有累计放大的特性,为了减少圆光栅角度传感器的误差,提出了一种狼群算法和最小二乘法相融合的算法修正转角误差。首先分析了圆光栅的偏心参数,通过三角函数得到角度的修正公式。使用标准件进行了标定实验,以长度精度为目标函数,融合算法标定参数时先通过狼群算法得到6个关节偏心参数的次优解,进而由最小二乘法快速收敛得全局最优解,解决了LM算法初始值依赖缺陷。实验结果表明,标定的偏心参数对关节旋转角度修正后,单点重复性误差的平均值降低了0.065 mm,长度精度的平均值减少了0.104 mm,测量机的测量精度有了进一步的提升。The joint angle error of the flexible arm measuring machine has the characteristics of cumulative amplification,to reduce the error of the circular grating angle sensor;this paper proposes an algorithm combining the wolf pack algorithm and the levenbergmarquardt(LM)method to correct the corner error.Firstly,the eccentricity parameters of the circular grating are analysed,and the angle correction formula is obtained by the trigonometric function.The calibration experiment is carried out by using the standard parts,taking length accuracy as the objective function.The suboptimal solution of the six joint eccentricity parameters is obtained by the wolf pack algorithm when fusion algorithm calibrates parameters,and then the global optimal solution is quickly converged by the LM method,which solve the defect of initial value dependence for the LM.The experimental results show that after the calibration eccentricity parameter is corrected for the joint rotation angle,the average value of the single point repeatability error is reduced by 0.065 mm,and the average value of the length accuracy is reduced by 0.104 mm.The measurement accuracy of the measuring machine is further improved.

关 键 词：融合算法 柔性臂测量机 偏心误差 参数标定 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]