摘要
依据并联机构的位置反解模型,给出了求解6-DOF并联坐标测量机位置正解的无约束优化模型,并应用粒子群算法(PSO)对该优化问题进行了求解,由此可将复杂的并联坐标测量机测量建模问题转换为优化问题,从而求得位置正解。仿真结果表明:80个粒子大约经过55次的迭代运算后,收敛精度可达到0.5μm,平均运行时间约为3 s。粒子群算法应用于并联坐标测量机测量建模与求解,可获得较高的计算速度和计算精度。
On the basis of the inverse position model of a parallel mechanism,an unconstrained optimal model was established for solving the forward position of a 6-DOF parallel Coodinate Measuring Mechine（CMM）. The Particle Swarm Optimization（PSO） algorithm was used for solving the optimization problem, then the forward position could be obtained. The simulation results indicate that the convergent operation precision of 80 particles is about 0.5 μm and the average time is about 3 s after iterative operation of 55 times. The PSO algorithm has the higher speed and precision of calculation for measurement modeling and solution of parallel-link CMM.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2008年第1期76-81,共6页
Optics and Precision Engineering
基金
黑龙江省研究生创新科研项目(No.YJSCX2005-79HLJ)
黑龙江省教育厅科学技术研究项目(No.10551002)
关键词
并联坐标测量机
测量模型
粒子群算法
位置反解
位置正解
parallel-link Coordinate Measuring Machine （CMM）
measurement modeling
ParticleSwarm Optimization（PSO）
inverse kinematics
forward kinematics
