去除离群点的五轴联动机床自动标定算法研究  

Research on Automatic Calibration Algorithm with Outlier Removal for Five-axis Machine Tool

作　　者：黎永杨 刘远凯 王科 葛鹏遥 黄国辉 LI Yongyang;LIU Yuankai;WANG Ke;GE Pengyao;HUANG Guohui(ADTECH(Shenzhen)Technology Co.,Ltd.,Shenzhen 518052,China;Shanghai STEP Electric Corporation,Shanghai 201802,China)

机构地区：[1]深圳众为兴技术股份有限公司,广东深圳518052 [2]上海新时达电气股份有限公司,上海201802

出　　处：《机械制造与自动化》2022年第6期66-69,共4页Machine Building & Automation

基　　金：国家工信部2020年工业互联网创新发展工程项目(TC200H01Q);深圳市科技研发资金项目(JSGG20200701095003006)。

摘　　要：为提高五轴联动机床RTCP参数标定的稳健性,提出一种去除离群点的机床自动标定算法。利用方均根误差受异常值影响更大的数学原理,设定合理的离群点去除阈值,依据特征值法和最小二乘法的拟合原理获得机床RTCP参数。实验结果表明:该算法可有效避免个别异常数据对标定结果的影响,并可获得更高精度的RTCP参数,与传统的最小二乘法测量值比较具有更小的距离误差;通过Matlab绘制三维对比图,进一步验证了该算法的有效性。In order to improve the robustness of RTCP parameter calibration for five-axis machine tool,an automatic calibration algorithm with outlier removal was proposed.The mathematical principle of outliers with greater influence on root mean square error was used to set a reasonable outlier removal threshold,and the RTCP parameters of machine tool were obtained based on the fitting principle of eigenvalue method and least square method.The experimental results show that the proposed algorithm can effectively avoid the influence of individual abnormal data,obtain higher precision RTCP parameters,and has smaller distance error in comparison with the traditional least square method,whose effectiveness was further verified by the three-dimensional comparison diagram drawn by Matlab.

关 键 词：五轴联动 数控机床 RTCP 参数标定 最小二乘 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]