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由于并联构型装备难于实现全闭环反馈控制,使运动学标定成为一项具有显著经济价值并十分有效的提高并联构型装备精度的手段,通常包括误差建模、测量、辨识和补偿4个环节。基于以上因素,以5自由度混联机械手Tricept为对象,研究一种基于内部传感器检测信息的运动学标定方法。首先建立传感器测量值与影响末端可补偿位姿误差的几何误差源的映射关系。在此基础上,讨论了几何误差的可辨识性。通过计算机仿真验证了所提方法的可行性和有效性。
Due to the difficulty of implementing full closed-loop feedback control in parallel configuration equipment, kinematic calibration becomes a significant economic value and a very effective means to improve the precision of parallel configuration equipment, and usually includes four steps of error modeling, measurement, identification and compensation . Based on the above factors, a kinematic calibration method based on the detection information of internal sensors is studied with a 5-DOF manipulator Tricept. Firstly, the mapping relationship between the measured value of the sensor and the geometrical error source that can compensate the pose error of the end is established. On this basis, the discernibility of geometric errors is discussed. The feasibility and effectiveness of the proposed method are verified by computer simulation.