摘要
建立标定模型,用逆向运动学标定方式模拟了一新型五轴并联机床的标定过程,结果表明这种标定方法的算法收敛快、鲁棒性好。由于将并联机床的固定参考系的姿态参数也考虑进标定模型中,使得这一模型可以消除测量的系统误差对并联机器人标定精度的影响,进一步提高并联机器人的标定精度。这些分析结果为并联机床的标定试验提供理论分析基础。
After establishing the model for the calibration of a novel five-axis parallel machine tool, the process of calibration is simulated by minimizing inverse kinematic residuals. The results indicate that the kinematic identification algorithm is very efficient and robust. Since the orientation parameters of the reference frame for the parallel machine tool are included in the model of calibration, the model can eliminate the unfavourable influence of the system error created during the measurement and the accuracy of calibration can be improved further. All the results provide the fundamental reference for the trial of calibration of the parallel machine tool.
出处
《组合机床与自动化加工技术》
2005年第10期13-15,共3页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家杰出青年基金资助项目(50125516)
关键词
并联机床
标定
建模
仿真
parallel machine tool
calibration
modeling
simulation
