摘要
系统研究6SPS并联机构标定的方法。研究中应用激光跟踪仪测量、基于并联机构正解和定位误差旋量的计算,正交试验进行试验设计,应用非线性最小二乘参数辨识。仿真验证辨识的几何误差可以等于假定值,试验验证位姿精度提高了10倍。
One calibration methodology for 6SPS parallel mechanism is systematically studied. The forward kinematics, positioning error screw are derived. According to the nonlinear least squares identification theory, the experiments are designed base on orthogonal test approach, and the laser tracker is utilized in the measurement. The simulations illustrate the feasibility of this method that the identified geometry error parameters coincide to their assumed values. Finally, the experiments are proceeded to demonstrate that this identification approach can increase the pose accuracy 10 times.
出处
《航空制造技术》
北大核心
2014年第21期144-146,152,共4页
Aeronautical Manufacturing Technology
基金
航空基金(20111625008)资助
关键词
并联机构
标定
误差旋量
测量噪声
Parallel mechanism Calibration Error screw Measuring noise
