Kinematic parameter estimation technique for calibration and repeatability improvement of articulated arm coordinate measuring machines
Kinematic parameter estimation technique for calibration and repeatability improvement of articulated arm coordinate measuring machines
复制标题
DOI：
10.1016/j.precisioneng.2007.09.002
复制
发表时间：
2008-10-01
影响因子：
3.6
通讯作者：
Pastor, Jorge
中科院分区：
文献类型：
--
作者：
Santolaria, Jorge;Aguilar, Juan-Jose;Pastor, Jorge
关节臂坐标测量机（AACMM）的运动学建模继承了机器人手臂和机械手领域的先前发展，以及它们的校准和参数识别技术，考虑到它们的机械特性的相似性。两种系统的不同精度和重复性要求使得有必要考虑不同的识别技术，涵盖每种情况下的特征操作参数。本文提出了一种新的数据捕获技术，用于随后识别的AACMM运动学模型参数，使用球棒规达到的标称数据，沿着的算法和使用的目标函数，基于一种新的方法，包括关于测量精度和可重复性的条款。因此，使用基于傅立叶多项式的重复性误差模型的估计和误差测量校正方法来自识别方案。使用长1.5 m、具有6个自由度（dof）的Sterling系列FARO手臂进行实验测试，以评估所介绍技术的效率，显示出更高的精度和可重复性性能。(C)2007年爱思唯尔公司All rights reserved.
The kinematic modeling of articulated arm coordinate measuring machines (AACMM) has inherited both the previous developments in the field of robot arms and manipulators, and their calibration and parameter identification techniques, given the similarity of their mechanical characteristics. The different accuracy and repeatability requirements of both systems make it necessary to consider different identification techniques covering the characteristic operational parameters in each case. This paper presents a new data capture technique for subsequent identification of an AACMM kinematic model parameters, using nominal data reached by a ball bar gauge, along with the algorithm and objective functions used, based on a new approach including terms regarding measurement accuracy and repeatability. Thus, an estimation and error measurement correction method using a repeatability error model based on Fourier polynomials is derived from the identification scheme. A Sterling series FARO arm with 1.5 m long and 6 degrees of freedom (dof) was used to carry out experimental tests in order to evaluate the efficiency of the techniques presented, showing improved accuracy and repeatability performance. (C) 2007 Elsevier Inc. All rights reserved.