摘要
对特种重型车辆质心测试平台的组成结构及工作原理进行介绍,并建立质心测试平台的运动学模型。利用安装在运动平台中心的倾角传感器作为姿态测量仪器,提出一种基于Gauss-Newton最小二乘算法的运动学参数标定方法,并利用该方法对质心测试平台的14个运动学参数进行辨识。通过计算机仿真,对标定方法进行验证,从而为提高质心测试平台的测量精度奠定理论基础。
The structure and measuring principle of a center-of-mass measurement platform for special heavy vehicle were presented, and its kinematics model was formulated, which describs the inverse kinematics and forward kinematics. Then, a kinematic calibration method based on least square was developed, and the fourteen main kinematic parameters of the measurement platform were calibrated using the presented method. Lastly, the calibrated results were verified by computer simulation. It lays a theoretical basis for more enhancing the measuring accuracy of center-of-mass measurement platform.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2006年第5期916-919,共4页
Acta Armamentarii
关键词
仪器仪表技术
运动学标定
运动学建模
并联平台
最小二乘
质心测试
instrument and meter technique
kinematic calibration
kinematic modeling
parallel platform
least square
center-of-mass measurement
