摘要
为提高大射电望远镜馈源精调试验平台的定位精度,提出基于激光跟踪仪测量的标定方法。激光跟踪仪可间接测量出平台的空间6自由度位姿。为保证参数辨识性能,在腿长输入空间内选择测量位形。进行了仿真研究和实际试验,并检验了误差补偿后的实际精度效果。采用较少的测量数据时,精度仍有明显的改善效果。通过标定,试验平台定位精度大约提高到0.2mm,满足了大射电望远镜馈源精调的定位要求。试验结果证明基于激光跟踪仪测量标定大射电望远镜馈源精调平台是可行的。
A laser tracker LTD500 was used to calibrate the fine feed platform of a large radio telescope. The laser tracker accurately locates a point in space to calculate the platform position and orientation. The measurement configurations were located at the boundaries of the joint space to improve the accuracy. Simulation and error compensation tests showed that the platform positioning precision was improved to about 0.2 mm. The results show that the calibration method using the laser tracker significantly improves the accuracy of the fine feed platform, even if some parameters are inaccurate due to an insufficient number of measurement configurations.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2004年第8期1013-1016,共4页
Journal of Tsinghua University(Science and Technology)
基金
国家"九七三"重点基础研究项目(G1998030607)
关键词
射电望远镜
机器人
标定
参数辨识
误差补偿
激光跟踪仪
radio telescope
robot
calibration
parameter identification
error compensation
laser tracker
