基于封闭运动链的关节式坐标测量机自标定方法研究

项目名称： 基于封闭运动链的关节式坐标测量机自标定方法研究

项目编号： No.51465027

项目类型： 地区科学基金项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 高贯斌

作者单位： 昆明理工大学

项目金额： 45万元

中文摘要： 关节式坐标测量机是用于产品几何精度检测的便携式精密测量仪器，目前我国处于跟踪研究阶段，制约其发展的主要原因是测量精度问题，而标定是提高其测量精度的一项核心技术。本项目提出采用自标定的方法来辨识关节式坐标测量机的结构参数，进而提高其测量精度。研究关节式坐标测量机结构参数对测头运动的误差传递规律，建立误差传递模型，分析结构参数的可辨识性及误差耦合关系。依据关节式坐标测量机的运动学特性，基于外部物理约束构建封闭运动链，建立运动链参数与关节式坐标测量机结构参数之间的映射关系，建立自标定模型。提出通过增强自标定模型系数矩阵的数值稳定性方法，来提高结构参数辨识计算的收敛能力，并基于数值稳定性分析结果，优化封闭运动链参数及自标定数据采集策略。基于最优化理论和现代智能算法编制结构参数辨识算法，构建实验平台，开展实验验证。研究成果对提高关节式坐标测量机的测量精度、促进我国关节式坐标测量机的发展具有重要意义。

中文关键词： 关节式坐标测量机；参数辨识；运动学标定；误差建模；运动链

英文摘要： The Articulated Arm Coordinate Measuring Machine (AACMM) is a kind of portable precision geometrical accuracy measuring instrument. Currently, domestic studies in the area are still in the stage of tracking research. Measurement accuracy problems are the main fact that restricts the development of AACMMs and calibration is a key technology to improve the accuracy of AACMMs. This project proposes self-calibration methods to improve the accuracy of AACMMs. The error propagation from the structural parameters to the probe movement of the AACMM is studied. And the error propagation model is set up to analyze the identifiability and the coupling relationship of the structural parameters. According to the kinematic characteristics of the AACMM, the self-calibration model is established based on a closed kinematic chain which is formed by external physical constraints. And the mapping relationship between the parameters of the kinematic chain and the structural parameters of the AACMM is established. A method enhancing the numerical stability of the coefficient matrix model is proposed to improve the convergence ability in solving the structural parameters. The parameter settings of the self-calibration model and data acquisition strategies are optimized to improve the poor identifiability of the structural parameters of the AACMM. The identification algorithms based on optimization theory and modern intelligent algorithms are designed, and experimental test will be carried on to verify the self-calibration method. The research results of the project are important for the development of the AACMM in China.

英文关键词： Articulated Arm Coordinate Measuring Machine;Parameter Identification;Kinematic Calibration;Error Modeling;Kinematic Chain