| 机械臂绝对定位精度测量 |
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| 引用本文： | 邓启文,韦庆,杨乐平.机械臂绝对定位精度测量[J].计算机测量与控制,2007,15(3):305-307. |
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| 作者姓名： | 邓启文 韦庆 杨乐平 |
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| 作者单位： | 国防科大,机电工程与自动化学院,湖南,长沙,410073;国防科大,航天与材料学院,湖南,长沙,410073 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 提出了用激光跟踪仪标定机械臂的D-H参数、测量机械臂绝对位姿以及对机械臂的绝对定位精度进行分析的方法;用激光跟踪仪测量机械臂各个关节单独运动时得到的一系列离散点,就可确定机械臂各个关节的轴线,由此建立机械臂的D-H坐标系,并对D-H参数进行标定;然后,给出了由6D激光头位姿确定机械臂末端位姿的方法;最后,推出了由测量位姿值与命令位姿值相比较,得到机械臂绝对定位的位置和姿态偏差的方法;这些方法可以有效、迅速地完成对机械臂绝对定位精度的测量.
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| 关 键 词： | 激光跟踪仪 绝对定位精度 |
| 文章编号： | 1671-4598（2007）03-0305-03 |
| 收稿时间： | 2006-03-06 |
| 修稿时间： | 2006-05-09 |
Measurement of Absolute Precision of Pose of Manipulator |
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| Deng Qiweng,Wei Qing,Yang Leping.Measurement of Absolute Precision of Pose of Manipulator[J].Computer Measurement & Control,2007,15(3):305-307. |
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| Authors: | Deng Qiweng Wei Qing Yang Leping |
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| Affiliation: | 1. College of Mechatronics and Automation, National Univ. of Defense Technology. Changsha 410073, China; 2. College of Spaceflight and Materials, National Univ. of Defense Technology, Changsha 410073, China |
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| Abstract: | A method of confirming the D-H parameters by laser tracker,measuring the pose of manipulator by laser tracker,analysising the absolute precision of pose,is presented.The axis can be confirmed by measuring a series of points when one joint of the manipulator is moving separately. the D-H coordinate can be built from the axes,and D-H parameters can be demarcated.Then,a method of confirming the end pose of manilupator from the pose of 6D laser-head is presented.At last,a method of calculating absolute error of pose by comparing measured pose and ideal pose is presented.These methods can measure the abosolute precision of position and pose effectively and quickly. |
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| Keywords: | laser tracker absolute precision of pose |
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