基于混合优化算法的关节臂式测量机参数标定  

Parameter calibration for articulated arm measuring machine based onhybrid optimization algorithm

作　　者：章家岩 许治顺 王胜 冯旭刚 ZHANG Jiayan;XU Zhishun;WANG Sheng;FENG Xugang(School of Electrical and Information Engineering,Anhui University of Technology,Maanshan,Anhui 243032,P.R.China)

机构地区：[1]安徽工业大学电气与信息工程学院,安徽马鞍山243032

出　　处：《重庆大学学报》2021年第8期146-155,共10页Journal of Chongqing University

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

摘　　要：为进一步提高关节臂式坐标测量机等高机动性精密测量设备的测量精度,使用D-H矩阵法建立其关节坐标转换数学模型并据此推导出参数误差模型。针对非线性多参数标定问题,通过变换分析消除了最小二乘法求解时矩阵中的冗余参数,降低了计算的复杂性。设定判定准则并实现最小二乘法和模拟退火算法的混合,提出了一种基于混合优化算法的参数标定方法,解决了LM算法的初值设定和SA算法的搜索效率逐步降低的问题。实验结果表明:关节臂式测量机参数经混合优化算法标定后,参数的误差范围有了显著的缩小,单点重复性误差的平均值减小了1.746 mm,长度误差的平均值减小了0.941 mm,测量误差得到了进一步的抑制。In order to further improve the measurement accuracy of high mobility precision measuring equipment such as articulated arm CMM,the D-H matrix method the mathematical model of joint coordinate transformation and the parameter error model is derived accordingly.the problem of nonlinear multiparameter calibration,the redundant parameters in the matrix are eliminated by transformation analysis,the complexity of calculation.criteria for judgment and the mixture of least square method and simulated annealing algorithmA new method of parameter calibration based on hybrid optimization algorithm is proposed,which solves the problem of initial value setting of LM algorithm and search efficiency decreasing of SA algorithm.The experimental results show that the error range of the parameters of the articulated arm measuring machine is significantly reduced after the parameters are calibrated by the hybrid optimization algorithmhe average value of single point repeatability error is reduced by 1.746 mm,and the average value of length error is reduced by 0.941 mm.The measurement error is further suppressed.

关 键 词：关节臂式坐标测量机 模拟退火算法 最小二乘法 参数标定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]