多关节机械臂的坐标模型和参数标定

Coordinate model and calibration algorithm of multi-joint arm

对多关节机械臂式三维坐标采集系统中使用的空间坐标模型和参数标定方法进行了研究。首先提出了具有普适性的杆件单元模型 ,并基于此建立了多关节机械臂式三维坐标测量机构的坐标模型。继而讨论了模型中各系统参数的标定问题 ,在研究基于最小二乘法和迭代的标定方法之后提出了一种基于实数编码型遗传算法的标定方法 ,它具有定标点数不受限制 ,精度高等优点。实验结果证明这种标定方法有较好的实用性和鲁棒性。

The focus of the paper is on the coordinate model and calibration of multi-joint type CMM. Begining with a generalized model of a pair unit, by which the coordinate model of a Multi-Joint Type 3D Scanner (MJT3DS) system can be easily deduced. The paper presents a new approach to the calibration of parameters in the model. Based on the real-valued genetic algorithm, the calibration algorithm is superior in many respects to the linear algorithm applying least square and iterative algorithm. The feasibility and robustness of this algorithm have been proved by computer simulation.