基于平差优化技术的高精度三维标定方法

为提高工业机器人、自动化校准设备等智能系统的整体精度,基于罗德里格矩阵和最小二乘法拟合建立数学模型,解决了三维直角坐标系之间转换关系的工程应用问题。采用基于冗余测量数据的平面平差优化技术和定位坐标点的间接测量方法,提升了局部坐标系建立的精度。针对坐标点接触式测量和非接触式测量的技术缺陷,提出了采用激光跟踪仪测量终端,用标定工装辅助实现间接测量的方法,能通过多点的接触式间接测量保证被测定位坐标点的精度。最后经过多次试验验证了方法的可行性。

High-Precision Three-Dimensional Calibration Method Based on Adjustment Optimization Technique

In order to improve the overall accuracy of intelligent systems such as industrial robots and automated calibration equipment,the mathematical model is established based on Rodrigues’matrix and the least squares fitting,which solves the engineering application problem of the conversion relationship between three-dimensional Cartesian coordinates.The accuracy of the local coordinate system is improved by using the plane adjustment optimization technique based on redundant measurement data and the indirect measurement method of the positioning coordinate points.Aiming at the technical defects of coordinate point contact measurement and non-contact measurement,a method of measuring the terminal with laser tracker and implementing indirect measurement with calibration tooling is proposed,which can ensure the precision of the measured coordinate point by multi-point contact indirect measurement.At last,the feasibility of the method was verified by several experiments.