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| 基于指数积公式的串联机构运动学参数辨识实验 | |
| 引用本文： | 何锐波,赵英俊,韩奉林,杨曙年,杨叔子. 基于指数积公式的串联机构运动学参数辨识实验[J]. 机器人, 2011, 33(1): 35-39. DOI: 10.3724/SP.J.1218.2011.00035 |
| 作者姓名： | 何锐波 赵英俊 韩奉林 杨曙年 杨叔子 |
| 作者单位： | 1. 华中科技大学机械科学与工程学院,湖北武汉,430074 2. 中南人学机电工程学院,湖南长沙,410083 |
| 摘 要： | 将指数积公式引入基于关节运动轨迹的串联机构运动学参数辨识.利用坐标测量仪测量各关节的运动轨迹,处理测量数据,得到各关节的运动轨迹方程.根据指数积公式对移动副和转动副的定义,直接从关节运动轨迹方程得到实际的关节旋量和实际的关节变量计数当量,从而避免了繁琐的各连杆坐标系的构建过程和坐标变换矩阵的还原过程.该方法已用于数字化... |
| 关 键 词： | 运动学参数辨识 指数积公式 关节运动轨迹 |
| 收稿时间： | 2010-03-31 |
| 修稿时间： | 2010-10-09 |
Experimentation on Identifying the Kinematic Parameters of Serial Mechanism Based on the Product-of-Exponential Formula |
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| HE Ruibo,ZHAO Yingjun,HAN Fengling,YANG Shunian,YANG Shuzi. Experimentation on Identifying the Kinematic Parameters of Serial Mechanism Based on the Product-of-Exponential Formula[J]. Robot, 2011, 33(1): 35-39. DOI: 10.3724/SP.J.1218.2011.00035 | |
| Authors: | HE Ruibo ZHAO Yingjun HAN Fengling YANG Shunian YANG Shuzi |
| Affiliation: | HE Ruibo~1,ZHAO Yingjun~1,HAN Fengling~2,YANG Shunian~1,YANG Shuzi~1 (1.School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China,2.College of Mechanical and Electrical Engineering,Central South University,Changsha 410083,China) |
| Abstract: | The product-of-exponential (POE) formula is introduced into the kinematic parameter identification based onjoint trajectories for serial mechanism. Each joint trajectory is measured by CMM (coordinate measurement machine). Then,equations describing each joint trajectory can be obtained by processing the measurement data. According to the definitionof the revolute joint and the prismatic joint in POE formula’s convention, the actual twists and actual pulse-count equivalentsof joint variables can be obtained directly from these equations without the complicated procedures of the link coordinateframes’ construction and these coordinate transformation matrixes’ reconstruction. The method is implemented to identifythe kinematic parameters of the digital brain stereotactic apparatus. The experimental result shows that the method is effectiveand can be applied to the kinematic calibration of the general serial mechanism. |
| Keywords: | kinematic parameter identification product-of-exponential formula joint trajectory |
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