CN104019743A - Mechanical arm pose precision testing system - Google Patents

Abstract

The invention relates to a mechanical arm pose precision testing system which is reliable in data testing. The mechanical arm pose precision testing system comprises an air floatation platform, an air foot, a riding wheel, an air pump, a mechanical arm supporting frame, a balancing weight, a 6D laser tracker, an arm lever, a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint. The mechanical arm pose precision testing system is simple in structure and testing step, reliable in data testing, easy to implement and suitable for the test application field of space mechanical arms.

Description

Mechanical arm pose accuracy test macro

Technical field

The invention belongs to space manipulator applied technical field, can be developed space manipulator and implement ground pose accuracy test.

Background technology

Along with the progress of technology, the mankind's activity is in constantly space-ward expansion.According to statistics, 80～130 satellites are launched in the whole world every year on average, but have 2～3 satellites to fail correctly to enter the orbit, and in the satellite of correctly entering the orbit, have again 5～10 to lose efficacy at beginning of lifetime (after entering the orbit first 30 days), this has caused huge economic loss.In order to retrieve a loss as far as possible, is studying with satellite maintenance and life and be extended for the in-orbit service technology of object taking space manipulator as operational means various countries.Current service in-orbit mainly comprises the supply of ORU (Orbital replacing unit) replacing, fuel, cleaning of discarded satellite etc.An important step that realizes these tasks is to realize arresting and reorientating target satellite.Generally speaking, the instrument of the arresting pose tolerance of space manipulator is limited, is more to rely on the positioning precision of space manipulator itself to guarantee the success of arresting.Therefore, the ground test of space manipulator pose accuracy is very important link, and it has reflected the ability of arresting of space manipulator largely.Because space manipulator designs for space-orbit microgravity environment, joint drive power is refused limited, therefore, carries out the test of space manipulator pose accuracy must first develop test macro on ground, carries out gravity compensation, offsets the impact of ground gravity.For this reason, how to obtain the key issue that microgravity environment is space manipulator pose accuracy ground test.At present ground simulation in-orbit the test macro of microgravity environment mainly contain 5 classes, they are " suspension system ", " freely falling body ", " water float system ", " air-flotation system " and " assist parallelogram is determined barycenter, spring is connected commingled system ".Sus-pension cost is low, easy to maintenance, technology maturation, but mechanism is comparatively complicated, and gravity compensation is incomplete; The cost of water flotation gear and microgravity tower is high, maintenance cost is high, and the former also requires the sealing of the system that ensures in the time of experiment, although the latter's compensation gravitational effects is good, action time is too short, is unsuitable for the experimental implementation of space manipulator; Air supporting mode can only ensure that space manipulator moves in air-floatation planar, but gravity compensation effect is better; It is also immature that auxiliary parallelogram determine the mixed method technology of barycenter, spring connection.Consider, air floating platform auxiliary rational pose accuracy test mode are more suitable for the test of space manipulator pose accuracy.

Summary of the invention

First object of the present invention is to provide the reliable mechanical arm pose accuracy of a kind of accuracy test data test macro.

Second object of the present invention is to provide the testing procedure under mechanical arm pose accuracy test macro.

To achieve these goals, mechanical arm pose accuracy test macro of the present invention,

Include air floating platform, gas foot, support roller, air pump, robot support frame, trim weight, 6D laser tracker, armed lever, the first joint, second joint, the 3rd joint, the 4th joint, the 5th joint, the 6th joint;

Air floating platform, for to applying reacting force from the gases at high pressure of gas foot, is realized the support to gas foot; Support roller is equipped with on top at gas foot, can make the first joint rotate relative to gas foot;

The dynamic loading of gas foot can change along with the geometry state of carrying mechanical arm and the different extended configurations of mechanical arm;

Robot support frame is for fixing tested mechanical arm, provides and the connecting interface of mechanical arm, to realize the support to mechanical arm corresponding site, ensures that mechanical arm moves on platform;

Between the 4th joint and the 5th joint, armed lever is installed, the additional gravitational torque to the 3rd joint that trim weight produces for the biasing of balance armed lever, makes the 3rd joint can realize smoothly driving;

6D laser tracker detects for enforcing location; Air pump is used for providing aerodynamic force;

When test, the first joints open of space manipulator, removes the constraint of space manipulator flange pedestal, with gas is sufficient, the first joint is supported, allow the first joint, second joint, the 3rd joint motions to the position of specifying, record the transformation matrix of the 3rd joint with respect to mechanical arm mounting flange; Allow the 4th joint, the 5th joint, the 6th joint motions to the position of specifying, record the transformation matrix of arm end with respect to the 3rd joint.

The test process of the present invention under said system is:

Armed lever between the 4th joint and the 5th joint is fixed, realized the lifting to space manipulator;

Remove the constraint of space manipulator flange pedestal, with gas is sufficient, the first joint is supported, and utilized support roller to realize the rotation of the first joint with respect to gas foot;

The first joint, second joint, the 3rd joint motions are to the position of specifying;

Record the transformation matrix of the 3rd joint with respect to mechanical arm mounting flange;

Allow the 4th joint, the 5th joint, the 6th joint motions to the position of specifying;

Record the transformation matrix of arm end with respect to the 3rd joint;

Two pose matrixes are synthesized, record the end pose of space manipulator;

Compare with theoretical pose, can obtain the end pose accuracy of space manipulator.

According to space manipulator six-dimensional position and orientation precision test macro of the present invention, air floating platform, for to applying reacting force from the gases at high pressure of gas foot, is realized the support to gas foot.It is made up of the splicing of polylith black granite, and physical dimension is 3600mm × 4200mm × 400mm, and the roughness of platform is better than 0.4um, and flatness is better than 0.01mm/100mm.Can gas be the key equipment of experimental system enough, be related to and provide the free movement under microgravity environment to mechanical arm.Because the foot of gas in the time that joint of mechanical arm rotates wants supported mechanical arm to move in platform plane, now the load of gas foot is had to impact, therefore the dynamic loading of gas foot can change along with the geometry state of carrying mechanical arm and the different extended configurations of mechanical arm.Gas is the attachment device of ground experiment enough, and mechanical arm is these parts of gas foot not in the time of spatial movement, therefore reduces as possible the quality of gas foot in order not affect the performance requirement of mechanical arm, reducing the additional torque demand of gas foot to joint.In test, the first joints open of space manipulator, it is supported by gas foot, on the top of gas foot, support roller is housed, and can make the first joint rotate relative to gas foot.Robot support frame is the physical unit of fixing tested mechanical arm, can provide and the connecting interface of mechanical arm, to realize the support to space manipulator corresponding site, ensures that mechanical arm moves on platform.When native system is tested mechanical arm, by the armed lever (adopting the mode of lifting) of fixing between the 4th joint, the 5th joint, in the design of bracing frame, provide certain adjusting surplus, ensured the normal mounting of mechanical arm.Trim weight is used for the additional gravitational torque to the 3rd joint that the biasing of balance armed lever produces, and makes the 3rd joint can realize smoothly driving.The surveying instrument that test macro uses is the 6D laser tracker that API company of the U.S. provides, and is made up of the cable of a follower head, 2 6D sensors, controller and connection whole systems.Sextuple laser tracker can be measured the X of object, Y, the corner of Z coordinate figure and three attitudes simultaneously.Its static single-point measurement of coordinates precision reaches 5ppm, dynamically reaches 10ppm.Measuring system can directly record the 6 dimension attitudes that are arranged on target on mechanical arm by surveying instrument, thereby obtains the pose parameter of mechanical arm.

According to the pose accuracy test macro of mechanical arm of the present invention, removing after the constraint of space manipulator flange pedestal, with gas is sufficient, the first joint is supported, and utilized support roller to realize the rotation of the first joint with respect to gas foot; Allow the first joint, second joint, the 3rd joint motions to the position of specifying; Record the transformation matrix of the 3rd joint with respect to mechanical arm mounting flange; Allow the 4th joint, the 5th joint, the 6th joint motions to the position of specifying; Record the transformation matrix of arm end with respect to the 3rd joint; Two pose matrixes are synthesized, record the end pose of space manipulator; Compare with theoretical pose, can obtain the end pose accuracy of space manipulator.This method of testing is the synthetic principle of each articular kinesiology based on space manipulator end pose.

Useful technique effect of the present invention is: this system and testing procedure are simple, test data is reliable, be easy to realize, and in the Acceptance Test of space manipulator, is applied, get good effect.

Brief description of the drawings

Fig. 1 installs and test structure schematic diagram according to space manipulator of the present invention;

Fig. 2 is the pose accuracy test macro FB(flow block) according to mechanical arm of the present invention;

Embodiment

Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Be exemplary below by the embodiment being described with reference to the drawings, be intended to for explaining the present invention, and can not be interpreted as limitation of the present invention.

In Fig. 1, mechanical arm pose accuracy test macro, includes air floating platform 200, gas foot 201, support roller 202, air pump, robot support frame 204, trim weight 203,6D laser tracker, armed lever, the first joint 205, second joint 206, the 3rd joint 207, the 4th joint 208, the 5th joint 209, the 6th joint 210; Gas foot 201 is puff prots, and air pump is used for providing aerodynamic force;

Air floating platform, for to applying reacting force from the gases at high pressure of gas foot, is realized the support to gas foot; Support roller is equipped with on top at gas foot, can make the first joint rotate relative to gas foot;

The dynamic loading of gas foot can change along with the geometry state of carrying mechanical arm and the different extended configurations of mechanical arm;

Robot support frame is for fixing tested mechanical arm, provides and the connecting interface of mechanical arm, to realize the support to mechanical arm corresponding site, ensures that mechanical arm moves on platform;

Between the 4th joint and the 5th joint, armed lever is installed, the additional gravitational torque to the 3rd joint that trim weight produces for the biasing of balance armed lever, makes the 3rd joint can realize smoothly driving;

6D laser tracker detects for enforcing location; Air pump is used for providing aerodynamic force;

When test, the first joints open of space manipulator, remove the constraint of space manipulator flange pedestal, with gas is sufficient, the first joint is supported, allow the first joint 205, second joint 206, the 3rd joint 207 move to the position of appointment, record the transformation matrix of the 3rd joint 207 with respect to mechanical arm mounting flange; The position allow, the 4th joint 208, the 5th joint 209, the 6th joint 210 moving to appointment, records the transformation matrix of arm end with respect to the 3rd joint 207.

Fig. 1 is that the space manipulator of system is installed and test schematic diagram, in figure, space manipulator is unfolded on grouan air floating platform, armed lever between the 4th joint 208 and the 5th joint 209 is lifted, space manipulator mounting flange is disengaged constraint, the first joint is supported by the gas foot that support roller is installed, by trim weight, the additional moment of this armed lever of balance to the 3rd joint 207, arranges respectively target 1, target 2 and target 3 at connecting portion and the arm end in flange position, the 3rd joint 207 and the 4th joint 208 in the first joint 205.

Second object of the present invention is the pose accuracy test macro that proposes a kind of mechanical arm, and the pose accuracy test macro flow process that specifically describes base mechanical arm of the present invention in conjunction with Fig. 2 is as follows:

Step S101, fixes the armed lever between the 4th joint 208 and the 5th joint 209, realizes the lifting to space manipulator.

Step S102, removes the constraint of space manipulator flange pedestal, with gas is sufficient, the first joint 205 is supported, and is utilized support roller to realize the rotation of the first joint with respect to gas foot.

Step S103, allows the first joint 205, second joint 206, the 3rd joint 207 move to the position of appointment.

Step S104, records the transformation matrix of the 3rd joint 207 with respect to mechanical arm mounting flange.

Step S105, allows the 4th joint 208, the 5th joint 209, the 6th joint 210 move to the position of appointment.

Step S106, records the transformation matrix of arm end with respect to the 3rd joint 207.

Step S107, synthesizes two pose matrixes, records the end pose of space manipulator.Specifically, suppose that position and attitude value that platform coordinate ties up in surveying instrument coordinate system are (x, y, z, α, beta, gammas) _q, the pose angle using in this patent is not as having specified otherwise to be RPY angle, and Q coordinate is tied to the transition matrix between P coordinate system be given by the following formula.

$T_Q^P=\left[\begin{array}{cccc}\cos \mathrm{\γ}\cos \mathrm{\β}& \cos \mathrm{\γ}\sin \mathrm{\β}\sin \mathrm{\α}-\sin \mathrm{\γ}\cos \mathrm{\α}& \cos \mathrm{\γ}\sin \mathrm{\β}\cos \mathrm{\α}+\sin \mathrm{\γ}\sin \mathrm{\α}& x\\ \sin \mathrm{\γ}\cos \mathrm{\β}& \sin \mathrm{\γ}\sin \mathrm{\β}\sin \mathrm{\α}+\cos \mathrm{\γ}\cos \mathrm{\α}& \sin \mathrm{\γ}\sin \mathrm{\β}\cos \mathrm{\α}-\cos \mathrm{\γ}\cos \mathrm{\α}& y\\ -\sin \mathrm{\β}& \cos \mathrm{\β}\sin \mathrm{\α}& \cos \mathrm{\β}\cos \mathrm{\α}& z\\ 0& 0& 0& 1\end{array}\right]$

Also can obtain P coordinate to this matrix inversion and be tied to the transition matrix between Q coordinate system

In test process, suppose that the output note that surveying instrument tracking target mapping obtains does ^pp, so this coordinate in Q system after mechanical arm is installed, the measured value of end face reference point is installed by measurement mechanical arm, adopt above-mentioned identical method just can obtain the transition matrix of M to P with the transition matrix of P to M

Suppose that (S1, S2) is any 2 points in P coordinate system, its coordinate is respectively ^ps ₁with ^ps ₂, taking S1, S2 as initial point, its direction is that coordinate axis can form 2 coordinate systems (S1 coordinate system and S2 coordinate system).With the same similar method can be from S1 and S2 the measured value P coordinate system ( ^ps ₁with ^ps ₂) obtain P coordinate and be tied to the transition matrix of S1 coordinate system and S2 coordinate system with be easy to obtain be tied to S2 Conversion Matrix of Coordinate from S1 coordinate according to the transitivity of transition matrix

As long as measure installation coordinate system and the terminal angle coordinate system of space manipulator in our test macro coordinate system, just can obtain terminal position and attitude under mounting base coordinate system.

The motion of supposing 6 joints is (all measure in coordinate system move) that simultaneously carry out, and the coordinate transform battle array that can obtain C and A by the measurement posture information of test reference point A, B and C is:

$T_C^A=T_B^A\·T_C^B$

Each measurement point is all carried out to N measurement in first step test and second test, after combining, can obtain N2 measurement data.For k point (k=1,2,3 ... K), C can be given by the following formula with respect to the transformation matrix of A:

(i, j=1,2,3 ... N), wherein i, j is respectively the sequence number of k point in the time of the first step and second step measurement.Wherein,

Because the coordinate system of reference point A can not overlap completely with the installation coordinate of mechanical arm, therefore also use A and the relational matrix that coordinate system is installed in like manner also needing C and tool coordinates is the coordinate transform battle array between E

Can finally obtain tool coordinates system from above transformation matrix with the coordinate transform battle array of mechanical arm installation coordinate system is:

According to can obtain tool coordinates system (calibration point) with respect to the attitude matrix that coordinate system is installed in addition, the coordinate by C point in P and P can obtain the coordinate of C in M to the transition matrix of M, and there is fixing relation in tool coordinates system (calibration point) with C point in M coordinate system, therefore can obtain the coordinate of calibration point in M coordinate system $(x_k^{\mathrm{ij}},y_k^{\mathrm{ij}},z_k^{\mathrm{ij}}).$

Step S108, compares with theoretical pose, can obtain the end pose accuracy of space manipulator.Specifically, can calculate calibration point (paw center) by the pose coordinate of measured target A, B1, B2 and C by the method providing above, at mechanical arm, pose measured value in coordinate system is installed:

with i, j=1,2 ... N, k=1,2 ... K

, can obtain with respect to the repetition pose accuracy under absolute pose accuracy and statistical significance under measurement point limit meaning in the expected pose of installing in coordinate system in conjunction with measurement point.

1) the definitely calculating of pose accuracy

K the absolute position error of putting i and j multiple measurement value is:

$E_{\mathrm{pk}}^{\mathrm{ij}}=\sqrt{{(x_k^{\mathrm{ij}}-x_k)}^2+{(y_k^{\mathrm{ij}}-y_k)}^2+{(z_k^{\mathrm{ij}}-z_k)}^2}$

Again according to differential translation and the rotational transform of coordinate system, obtain Δ and be:

$\mathrm{\Δ}=(A_k^{\mathrm{ij}}{}_E{}^M-A_k)A_k^{-1}$

Accordingly, easily try to achieve the absolute attitude error of k some i and j multiple measurement value

Absolute positional accuracy n _pbe expressed as:

$n_p=\underset{i,j,k}{\max }{E}_{\mathrm{pk}}^{\mathrm{ij}}$

Definitely attitude accuracy is expressed as:

${\mathrm{\δ}}_x=\underset{i,j,k}{\max }{\mathrm{\δ}}_{\mathrm{xk}}^{\mathrm{ij}}$

${\mathrm{\δ}}_y=\underset{i,j,k}{\max }{\mathrm{\δ}}_{\mathrm{yk}}^{\mathrm{ij}}$

${\mathrm{\δ}}_z=\underset{i,j,k}{\max }{\mathrm{\δ}}_{\mathrm{zk}}^{\mathrm{ij}}$

2) calculating of resetting pose accuracy

The repeatedly repeatable position that k is ordered is measured mean value:

$\stackrel{\‾}{x_k}=\frac{1}{N^2}\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{x}_k^{\mathrm{ij}}$

$\stackrel{\‾}{y_k}=\frac{1}{N^2}\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{y}_k^{\mathrm{ij}}$

$\stackrel{\‾}{z_k}=\frac{1}{N^2}\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{z}_k^{\mathrm{ij}}$

Attitude measurement error mean value is:

$\stackrel{\‾}{{\mathrm{\δ}}_{\mathrm{xk}}}=\frac{1}{N^2}\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{\mathrm{\δ}}_{\mathrm{xk}}^{\mathrm{ij}}$

$\stackrel{\‾}{{\mathrm{\δ}}_{\mathrm{yk}}}=\frac{1}{N^2}\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{\mathrm{\δ}}_{\mathrm{yk}}^{\mathrm{ij}}$

$\stackrel{\‾}{{\mathrm{\δ}}_{\mathrm{zk}}}=\frac{1}{N^2}\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{\mathrm{\δ}}_{\mathrm{zk}}^{\mathrm{ij}}$

The corresponding the relative position error measured for ij time of k point is:

$G_{\mathrm{pk}}^{\mathrm{ij}}=\sqrt{{(x_k^{\mathrm{ij}}-\stackrel{\‾}{x_i})}^2+{(y_k^{\mathrm{ij}}-\stackrel{\‾}{y_i})}^2+{(z_k^{\mathrm{ij}}-\stackrel{\‾}{z_i})}^2}$

The relative attitude error that k is ordered is:

$\left\{\begin{array}{c}{G}_{\mathrm{xk}}^{\mathrm{ij}}={\mathrm{\δ}}_{\mathrm{xk}}^{\mathrm{ij}}-\stackrel{\‾}{{\mathrm{\δ}}_{\mathrm{xk}}}\\ G_{\mathrm{yk}}^{\mathrm{ij}}={\mathrm{\δ}}_{\mathrm{yk}}^{\mathrm{ij}}-\stackrel{\‾}{{\mathrm{\δ}}_{\mathrm{yk}}}\\ G_{\mathrm{zk}}^{\mathrm{ij}}={\mathrm{\δ}}_{\mathrm{zk}}^{\mathrm{ij}}-\stackrel{\‾}{{\mathrm{\δ}}_{\mathrm{zk}}}\end{array}\right.$

Repeatedly the root-mean-square error of measurement data is:

${\mathrm{\σ}}_{\mathrm{pk}}=\sqrt{\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{\left(G_{\mathrm{pk}}^{\mathrm{ij}}\right)}^2}{N^2-1}}$

${\mathrm{\σ}}_{{\mathrm{\δ}}_{\mathrm{xk}}}=\sqrt{\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{\left(G_{\mathrm{xk}}^{\mathrm{ij}}\right)}^2}{N^2-1}}$

${\mathrm{\σ}}_{{\mathrm{\δ}}_{\mathrm{yk}}}=\sqrt{\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{\left(G_{\mathrm{yk}}^{\mathrm{ij}}\right)}^2}{N^2-1}}$

${\mathrm{\σ}}_{{\mathrm{\δ}}_{\mathrm{zk}}}=\sqrt{\frac{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{\left(G_{\mathrm{zk}}^{\mathrm{ij}}\right)}^2}{N^2-1}}$

Measuring accuracy represents with the root-mean-square error of 3 times, and repetitive positioning accuracy is expressed as:

n _p＝3σ _pk

The repetition accuracy of attitude determination that k is ordered is expressed as:

$\left\{\begin{array}{c}{n}_{\mathrm{xk}}=3{\mathrm{\σ}}_{{\mathrm{\δ}}_{\mathrm{zk}}}\\ n_{\mathrm{yk}}=3{\mathrm{\σ}}_{{\mathrm{\δ}}_{\mathrm{zk}}}\\ n_{\mathrm{zk}}=3{\mathrm{\σ}}_{{\mathrm{\δ}}_{\mathrm{zk}}}\end{array}\right.$

In the description of this instructions, the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means to be contained at least one embodiment of the present invention or example in conjunction with specific features, structure, material or the feature of this embodiment or example description.In this manual, to the schematic statement of above-mentioned term not must for be identical embodiment or example.And, specific features, structure, material or the feature of description can one or more embodiment in office or example in suitable mode combination.In addition,, not conflicting in the situation that, those skilled in the art can carry out combination and combination by the feature of the different embodiment that describe in this instructions or example and different embodiment or example.

Although illustrated and described embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, amendment, replacement and modification.

Claims (10)

1. mechanical arm pose accuracy test macro, is characterized in that,

Include air floating platform, gas foot, support roller, air pump, robot support frame, trim weight, 6D laser tracker, armed lever, the first joint, second joint, the 3rd joint, the 4th joint, the 5th joint, the 6th joint;

Air floating platform, for to applying reacting force from the gases at high pressure of gas foot, is realized the support to gas foot; Support roller is equipped with on top at gas foot, can make the first joint rotate relative to gas foot;

The dynamic loading of gas foot can change along with the geometry state of carrying mechanical arm and the different extended configurations of mechanical arm;

Robot support frame is for fixing tested mechanical arm, provides and the connecting interface of mechanical arm, to realize the support to mechanical arm corresponding site, ensures that mechanical arm moves on platform;

Between the 4th joint and the 5th joint, armed lever is installed, the additional gravitational torque to the 3rd joint that trim weight produces for the biasing of balance armed lever, makes the 3rd joint can realize smoothly driving;

6D laser tracker detects for enforcing location; Air pump is used for providing aerodynamic force;

When test, the first joints open of space manipulator, removes the constraint of space manipulator flange pedestal, with gas is sufficient, the first joint is supported, allow the first joint, second joint, the 3rd joint motions to the position of specifying, record the transformation matrix of the 3rd joint with respect to mechanical arm mounting flange; Allow the 4th joint, the 5th joint, the 6th joint motions to the position of specifying, record the transformation matrix of arm end with respect to the 3rd joint.

2. mechanical arm pose accuracy test macro according to claim 1, is characterized in that: the armed lever being fixed between the 4th joint and the 5th joint adopts the mode of lifting to install.

3. mechanical arm pose accuracy test macro according to claim 1, it is characterized in that: described 6D laser tracker is made up of the cable of a follower head, 2 6D sensors, controller and connection whole systems, can measure the X of object simultaneously, Y, the corner of Z coordinate figure and three attitudes, its static and dynamic single-point measurement of coordinates precision reaches respectively 5ppm and 10ppm.

4. mechanical arm pose accuracy test macro according to claim 1, is characterized in that: described air floating platform is made up of the splicing of polylith black granite.

5. mechanical arm pose accuracy test macro according to claim 1, is characterized in that: connecting portion and arm end in flange position, the 3rd joint and the 4th joint in the first joint are arranged respectively target 1, target 2 and target 3.

6. the measuring method of mechanical arm pose accuracy test macro according to claim 1, it is characterized in that: record respectively the 3rd joint with respect to the transformation matrix of mechanical arm mounting flange and arm end the transformation matrix with respect to the 3rd joint, two pose matrixes are synthetic, record the end pose of space manipulator, compare with theoretical pose, can obtain the end pose accuracy of space manipulator.

7. the measuring method of mechanical arm pose accuracy test macro according to claim 6, is characterized in that specifically comprising the steps:

(1) armed lever between the 4th joint and the 5th joint is fixed, realized the lifting to space manipulator;

(2) constraint of releasing space manipulator flange pedestal, supports the first joint with gas is sufficient, and utilizes support roller to realize the rotation of the first joint with respect to gas foot;

(3) allow the first joint, second joint, the 3rd joint motions to the position of specifying;

(4) record the transformation matrix of the 3rd joint with respect to mechanical arm mounting flange;

(5) allow the 4th joint, the 5th joint, the 6th joint motions to the position of specifying;

(6) record the transformation matrix of arm end with respect to the 3rd joint;

(7) two pose matrixes are synthesized, record the end pose of space manipulator;

(8) compare with theoretical pose, can obtain the end pose accuracy of space manipulator.

8. the measuring method of mechanical arm pose accuracy test macro according to claim 7, is characterized in that: step 7 calculates the coordinate conversion matrix between different coordinates by measuring same coordinate figure under different coordinates.

9. the measuring method of mechanical arm pose accuracy test macro according to claim 8, is characterized in that: in step 7, each measurement point is all taken multiple measurements at step S101 and step S101.

10. the measuring method of mechanical arm pose accuracy test macro according to claim 9, is characterized in that: step 8 comprises the calculating of absolute pose accuracy and the calculating of resetting pose accuracy.