多基站激光跟踪仪协同测量的误差影响因素研究  

Research on Error Influencing Factors of Coordinated Measurement of Multi-Base Station Laser Tracker

作　　者：尹瑞多[1,5] 祖洪飞 陈章位 郭晓炜 严萍 YIN Ruiduo;ZU Hongfei;CHEN Zhangwei;GUO Xiaowei;YAN Ping(Zhejiang Institute of Metrology,Hangzhou 310018,China;Zhejiang Sci-Tech University,Hangzhou 310018,China;Hangzhou ECON Technology Co.,Ltd,Hangzhou 310015,China;Zhejiang Longyu Intelligent Technology Co.,Ltd,Haining 314419,China;Key Laboratory of Force and Weighing Measurements of Zhejiang Provincial Market Supervision and Adiministration Bureau,Hangzhou 310018,China)

机构地区：[1]浙江省计量科学研究院,杭州310018 [2]浙江理工大学,杭州310018 [3]杭州亿恒科技有限公司,杭州310015 [4]浙江龙宇智能科技有限公司,海宁314419 [5]浙江省市场监管测力与称重计量重点实验室,杭州310018

出　　处：《计量科学与技术》2022年第11期12-15,52,共5页Metrology Science and Technology

基　　金：浙江省重点研发计划项目(2020C01028);浙江省自然科学基金资助项目(LQ20E050020);2021年海宁市协同创新项目(20210101)。

摘　　要：激光跟踪仪由于精度高、测量范围大、可多维测量等优势被广泛用于工业机器人的性能测量中。常规的大型设备位置尺寸测量,单基站激光跟踪仪便可以满足需求,然而在对双臂机器人、多机器人联动系统等复杂对象进行测量时,单基站激光跟踪仪不能满足同步实时测量的要求,需要采用多基站激光跟踪仪进行协同转站测量。从多基站激光跟踪仪测量的原理出发,开展多基站激光跟踪仪协同测量的误差影响因素研究,分析不同影响因素对于测量误差的影响,并通过仿真实验对比了最小二乘法、SVD分解法及四元数求解法三种方法对坐标转换的解算精度,对今后多基站激光跟踪仪测量系统的推广应用有一定的指导意义。Laser tracker is widely used in the performance measurement of industrial robots because of its high precision,large measurement range and multi-dimensional measurement.For conventional industrial robot position measurement,a single-base station laser tracker can meet the demand.However,when measuring complex objects such as dual-arm robots and multi-robot linkage systems,the single-base station laser tracker can not meet the requirements of synchronous real-time measurement,and a multi-base station laser tracker is required for coordinated transfer measurement.Based on the measurement principle of multi-base station laser tracker,this paper carries out the research on the error influencing factors of coordinated measurement of multi-base station laser tracker,analyzes the influence of different influencing factors on the measurement error,and compares the solution accuracy of coordinate transformation by the least square method,SVD decomposition method and quaternion solution method through simulation experiments,which has certain guiding significance for the promotion and application of the measurement system of the multi-base station laser tracker system in the future.

关 键 词：多基站 激光跟踪仪 协同测量 机器人性能测量 误差分析 

分 类 号：TN249[电子电信—物理电子学] TP242.2[自动化与计算机技术—检测技术与自动化装置]