指向机构精度测量中的转台调整角度计算方法

Calculation Method of Turntable Adjusting Angle in Accuracy Measurement of Pointing Mechanism

通过分析指向机构精度测量的原理,根据转台与指向机构在测量过程中的运动过程建立两者之间的位姿矩阵。利用位姿矩阵方向余弦间的关系,对位姿矩阵进行逆解计算得出测量时转台的转动角度,降低了转台与指向机构转轴不平行带来的转台调整误差,提高了测量精度。同时给出了一种转台与指向机构坐标系之间的位置角度的测量方法,为位姿矩阵的逆解提供初始数据。

By analyzing the principle of precision measurement of the pointing mechanism,the pose matrix between the turntable and the pointing machine during the measurement process is established.Using the relationship between the cosines of the D-H matrix direction,the D-H matrix is inversely calculated to obtain the rotation angle of the turntable during measurement,which reduces the adjustment error of the turntable caused by the non-parallel rotation of the turntable and the pointing machine,and improves the measurement accuracy.At the same time,a method for measuring the position angle between the turntable and the pointing machine coordinate system is given,which provides initial data for the inverse solution of the D-H matrix.