基于测量臂构型的单点残差修正方法

Single-point residual correction method for multi-joint arm based on pose configuration

测量臂杆件和关节的弹性变形与臂的摆放构型相关,会影响臂的测量精度。提出了一种基于测量臂构型的单点测量残差修正方法。通过分析测量臂在某一构型下的关节角度与测量臂末端点坐标偏差值之间的映射关系,再根据有序摆放构型下单点测量坐标相对平均坐标的变化曲线,利用不同构型下的关节角度和相应的坐标变化值建立了残差修正数据库,进而应用该数据库对测量臂任意构型下的末端坐标值进行修正。实验证实了其有效性和正确性。

The elastic deformation of multi-joint arm is associated with its pose configuration,which may affect measurement accuracy.A residual correction method is proposed for single-point measurement.The relationship between arm joint angles and probe coordinates was investigated and a residual database,which can be used to modify the probe coordinates,was established according to single-point measurement error curve.Experimental study shows that the proposed method is effective and correct,and can meet the measurement requirements.