CN105739538A - Positioning method based on mechanical arm movement device, and positioning testing device and method - Google Patents
Positioning method based on mechanical arm movement device, and positioning testing device and method Download PDFInfo
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Abstract
The invention provides a positioning testing method based on a mechanical arm movement device, and the device can carry out the precise positioning testing of a virtual gyration center of the mechanical arm movement device and a virtual shaft system of the mechanical arm movement device. The device comprises a triaxial rotary table, a laser range finder, a steel ball, a fixed support, and a laser tracker. The fixed support and the steel ball are used for setting a measurement point, thereby enabling the virtual gyration center of the mechanical arm movement device to be measurable, and enabling an error not to exceed 1.5. The laser range finder can quickly measure the information of the distance between two points, and enables a rolling shaft of the triaxial rotary table and a load rotating shaft of the mechanical arm movement device to be visible. The triaxial rotary table and the laser tracker can build a sight line coordinate system based on the triaxial rotary table, and can precisely locate the shaft system of the mechanical arm movement device, wherein the error is not greater than 5 seconds. The invention also provides a spatial virtual point laser direction positioning method and a spatial virtual shaft system testing method, and the methods are used for the technical field of composite guiding system semi-physical simulation, and also can be suitable for the precise positioning testing of similar function equipment in a complex large system in other fields.
Description
Technical field
The present invention relates to main equipment placement technology field, it is specifically related to the locating test device of a kind of mechanically-based arm telecontrol equipment, localization method and positioning test method, for combined guidance system semi-true object emulation technology field, what be also applicable in other field in complex large system similar functions equipment is accurately positioned test.
Background technology
The telecontrol equipment of a kind of mechanical arm version includes long-armed, galianconism, load slewing equipment and stage body, its long-armed, galianconism and load slewing equipment can both rotate in certain scope around respective gyroaxis, three gyroaxises meet at a bit in space, and this point is called the virtual centre of gyration.This device can move on the spherical track face that the radius of gyration and central angle are certain with dynamic load, can band dynamic load rotate around its gyroaxis simultaneously, and proof load gyroaxis points to the centre of gyration in spherical track face all the time, i.e. the virtual centre of gyration of this device.This telecontrol equipment can as line of sight angular movement simulator, it is applied in combined guidance semi-matter simulating system, can when avoid a road echo signal is caused block, drive another road target simulator to realize the accurate simulation of line of sight angular movement.Application conditions is: (1) ensures that this telecontrol equipment is accurately positioned in semi-matter simulating system: the virtual centre of gyration of this device and the three-axle table centre of gyration in same vertical plane, difference in height 1500mm；Horizontal range 1500mm, space length deviation is not more than 9mm.(2) this telecontrol equipment different motion point place's load gyroaxis locus accurately being tested, angular error is not more than 2 '.
Owing to this equipment volume is huge, weighing 6 tons, anchor point is the space virtual point of the distance high about 4m in ground, and gyroaxis to be measured is space moving axis, causes the assignment test of this telecontrol equipment is become a difficult problem.There is no the object movement simulation equipment application precedent of this class formation both at home and abroad, contrast approach without technology.
Summary of the invention
The present invention proposes the locating test device of a kind of mechanically-based arm telecontrol equipment, localization method and positioning test method.For combined guidance system semi-true object emulation technology field, what be also applicable in other field in complex large system similar functions equipment is accurately positioned test.
The present invention provides the locating test device of a kind of mechanically-based arm telecontrol equipment, the virtual centre of gyration of manipulator motion device and imaginary axis system thereof can be accurately positioned test.Locating test device includes: three-axle table, laser range finder, steel ball, fixed support and laser tracker.Wherein, adopt fixed support and steel ball that measurement point is set so that the virtual centre of gyration of manipulator motion device can be surveyed, and error is less than 1.5 '.Laser range finder is adopted can quickly to measure 2 range informations and make the three-axle table axis of rolling and manipulator motion device load gyroaxis visible；Adopting three-axle table and laser tracker can set up LOS coordinate system based on three-axle table, be accurately positioned mechanical arm telecontrol equipment axle system, error is less than 5.
Optionally, fixed support and steel ball is adopted measurement point can be set at distance ground level 5m place so that the virtual centre of gyration position of manipulator motion device can be surveyed, and intersection error is less than 1.5 '.
Optionally, described three-axle table includes: have the centre of gyration and the axis of rolling, band dynamic load can carry out rolling movement around the described axis of rolling, and the relatively described axis of rolling does horizontally and vertically angular movement, the axis of rolling can the controlled sensing virtual centre of gyration of manipulator motion device, Angle ambiguity deviation is not more than ± 0.004o.
Optionally, described laser range finder can be arranged on three-axle table and manipulator motion device, make the three-axle table axis of rolling and manipulator motion device load gyroaxis visible, the Laser Measurement outgoing end face distance to measurement point and can be reached, wherein, 5m place laser spot diameter is not more than 4.5mm, and range accuracy is not less than 1mm.
Optionally, described laser tracker includes measuring ball and main frame, is placed on extraterrestrial target by measurement ball, measures ball by host-tracking, space movement target can be tracked and measures in real time the 3 d space coordinate of target, and distance between computation and measurement target and angular relationship according to this.Described range measurement accuracy is 0.2mm, and angle-measurement accuracy is 5.
The present invention also provides for the localization method of a kind of mechanically-based arm telecontrol equipment, including: adopt fixed support and steel ball that measurement point is set, as the virtual swivel point location reference point of manipulator motion device；Being arranged on by laser range finder on three-axle table and manipulator motion device, shoot laser makes the three-axle table axis of rolling and manipulator motion device load gyroaxis visible.Controlling three-axle table drives laser range finder to do the motion of certain angle in vertical plane, adjusts steel ball position, until three-axle table axis of rolling sensing laser drops on steel ball and distance meets requirement.
Laser range finder is arranged on the load slewing equipment of manipulator motion device；Adjusting manipulator motion setting position and also control its long-armed and galianconism motion, until long-armed, galianconism moves to optional position, laser range finder outgoing beam all falls within steel ball and distance meets requirement.
The present invention also provides for the positioning test method of a kind of mechanically-based arm telecontrol equipment, adopt laser tracker, set up based on three-axle table and measure coordinate system: adopt laser tracker measuring machine mechanical arm telecontrol equipment different motion point place's load gyroaxis locus, obtain actual measurement line of sight angle；The error at the given line of sight angle of contrast and actual measurement line of sight angle, carries out error compensation to given line of sight angle；By the ideal position of the virtual centre of gyration of laser tracker survey calculation and physical location, calculate both distances and be virtual centre of gyration site error.
Optionally, described measurement coordinate system is: measuring the former heart of coordinate system is the three-axle table centre of gyration, and X-axis is the three-axle table axis of rolling, and it is X-axis forward that initial point points to manipulator motion device direction, is upwards Y-axis in vertical plane, and the right-hand rule determines Z axis.The angle in load gyroaxis and XOY face, YOZ face is actual measurement line of sight angle.
Compared with prior art, the invention have the advantages that
Assignment test equipment includes three-axle table, laser range finder, steel ball, fixed support and laser tracker.Adopt fixed support and steel ball measurement point can be set at distance ground level 5m place so that the virtual centre of gyration position of manipulator motion device can be surveyed.Laser range finder is adopted can quickly to measure 2 range informations and make the three-axle table axis of rolling and manipulator motion device load gyroaxis visible.Adopting three-axle table and laser tracker can set up LOS coordinate system based on three-axle table, be accurately positioned mechanical arm telecontrol equipment axle system, error is less than 5 ".
Corresponding localization method adopts fixed support and steel ball to arrange the virtual swivel point location reference point measuring point as manipulator motion device at distance ground level 5m place.Laser range finder is arranged on three-axle table, controls three-axle table and drive laser range finder to do 45o angular movement in vertical plane, adjust steel ball position, drop on steel ball and till satisfied requirement until laser range finder outgoing beam.Now steel ball and the three-axle table centre of gyration are in same vertical plane, and are positioned at the virtual centre of gyration place of manipulator motion device.Laser range finder is arranged on the load slewing equipment of manipulator motion device.Adjust manipulator motion setting position and also control its long-armed and galianconism motion, until long-armed, galianconism moves to optional position, till laser range finder outgoing beam all falls within steel ball and distance meets and require.The method is by the spatial point hypostazation of distance ground level 4m, and with this point for location reference point, by space motion axis is pointed to hypostazation, is accurately positioned the virtual swivel point of large scale computer mechanical arm telecontrol equipment.The upright position that deviation the is three-axle table precision ± 0.004o of anchor point and three-axle table centre of gyration place vertical plane, range deviation is laser range finder range accuracy 1mm.
Further, corresponding method of testing adopts laser tracker to set up based on three-axle table and measures coordinate system: measuring the former heart of coordinate system is the three-axle table centre of gyration, X-axis is the three-axle table axis of rolling, it is X-axis forward that initial point points to manipulator motion device direction, being upwards Y-axis in vertical plane, the right-hand rule determines Z axis.The angle in load gyroaxis and XOY face, YOZ face is actual measurement line of sight angle.Adopt laser tracker measuring machine mechanical arm telecontrol equipment different motion point place's load gyroaxis locus, obtain actual measurement line of sight angle.The error at the given line of sight angle of contrast and actual measurement line of sight angle, carries out error compensation, optimization aim angle of sight simulation precision to given line of sight angle.Simultaneously by the ideal position of the virtual centre of gyration of laser tracker survey calculation and physical location, calculate both distances and be virtual centre of gyration site error.Manipulator motion device can be carried out Accurate Calibration in the load axis of rotation sensing of space motion by this method of testing, and with distance and angle precise quantification, quantized result can as error compensation foundation, optimization aim angle of sight simulation precision.The virtual swivel point physical location of manipulator motion device can be carried out Accurate Calibration, and calculating obtains the virtual centre of gyration 9 site error 30 according to this.Space distance measurement precision is 0.2mm, requires that (9mm) differs an order of magnitude with site error.Angle-measurement accuracy is 5, has quantity differential with line of sight angle index request (2 ').
Accompanying drawing explanation
Fig. 1 the present invention relates to a kind of manipulator motion device.
Fig. 2 is the assignment test equipment of a kind of mechanically-based arm of the present invention.
Fig. 3 is the localization method of a kind of mechanically-based arm of the present invention.
Fig. 4 is the method for testing of a kind of mechanically-based arm of the present invention.
Detailed description of the invention
By describing the technology contents of the present invention, structural feature in detail, being reached purpose and effect, below in conjunction with example and coordinate accompanying drawing to be described in detail.
The present invention proposes the locating test device of a kind of mechanically-based arm telecontrol equipment, localization method and positioning test method.For combined guidance system semi-true object emulation technology field, what be also applicable in other field in complex large system similar functions equipment is accurately positioned test.
The present invention provides the locating test device of a kind of mechanically-based arm telecontrol equipment, the virtual centre of gyration of manipulator motion device and imaginary axis system thereof can be accurately positioned test.Locating test device includes: three-axle table, laser range finder, steel ball, fixed support and laser tracker.Wherein, adopt fixed support and steel ball that measurement point is set so that the virtual centre of gyration of manipulator motion device can be surveyed, and error is less than 1.5 '.Laser range finder is adopted can quickly to measure 2 range informations and make the three-axle table axis of rolling and manipulator motion device load gyroaxis visible；Adopting three-axle table and laser tracker can set up LOS coordinate system based on three-axle table, be accurately positioned mechanical arm telecontrol equipment axle system, error is less than 5.
Optionally, fixed support and steel ball is adopted measurement point can be set at distance ground level 5m place so that the virtual centre of gyration position of manipulator motion device can be surveyed, and intersection error is less than 1.5 '.
Optionally, described three-axle table includes: have the centre of gyration and the axis of rolling, band dynamic load can carry out rolling movement around the described axis of rolling, and the relatively described axis of rolling does horizontally and vertically angular movement, the axis of rolling can the controlled sensing virtual centre of gyration of manipulator motion device, Angle ambiguity deviation is not more than ± 0.004o.
Optionally, described laser range finder can be arranged on three-axle table and manipulator motion device, make the three-axle table axis of rolling and manipulator motion device load gyroaxis visible, the Laser Measurement outgoing end face distance to measurement point and can be reached, wherein, 5m place laser spot diameter is not more than 4.5mm, and range accuracy is not less than 1mm.
Optionally, described laser tracker includes measuring ball and main frame, is placed on extraterrestrial target by measurement ball, measures ball by host-tracking, space movement target can be tracked and measures in real time the 3 d space coordinate of target, and distance between computation and measurement target and angular relationship according to this.Described range measurement accuracy is 0.2mm, and angle-measurement accuracy is 5.
The present invention also provides for the localization method of a kind of mechanically-based arm telecontrol equipment, including: adopt fixed support and steel ball that measurement point is set, as the virtual swivel point location reference point of manipulator motion device；Being arranged on by laser range finder on three-axle table and manipulator motion device, shoot laser makes the three-axle table axis of rolling and manipulator motion device load gyroaxis visible.Controlling three-axle table drives laser range finder to do the motion of certain angle in vertical plane, adjusts steel ball position, until three-axle table axis of rolling sensing laser drops on steel ball and distance meets requirement.
Laser range finder is arranged on the load slewing equipment of manipulator motion device；Adjusting manipulator motion setting position and also control its long-armed and galianconism motion, until long-armed, galianconism moves to optional position, laser range finder outgoing beam all falls within steel ball and distance meets requirement.
The present invention also provides for the positioning test method of a kind of mechanically-based arm telecontrol equipment, adopt laser tracker, set up based on three-axle table and measure coordinate system: adopt laser tracker measuring machine mechanical arm telecontrol equipment different motion point place's load gyroaxis locus, obtain actual measurement line of sight angle；The error at the given line of sight angle of contrast and actual measurement line of sight angle, carries out error compensation to given line of sight angle；By the ideal position of the virtual centre of gyration of laser tracker survey calculation and physical location, calculate both distances and be virtual centre of gyration site error.
Optionally, described measurement coordinate system is: measuring the former heart of coordinate system is the three-axle table centre of gyration, and X-axis is the three-axle table axis of rolling, and it is X-axis forward that initial point points to manipulator motion device direction, is upwards Y-axis in vertical plane, and the right-hand rule determines Z axis.The angle in load gyroaxis and XOY face, YOZ face is actual measurement line of sight angle.
Refer to Fig. 1, the present invention relates to a kind of manipulator motion device 1, this device includes long-armed 2, galianconism 3, load slewing equipment 4 and stage body 5, its long-armed 2, galianconism 3 and load slewing equipment 4 can rotate in certain scope rotating around long-armed gyroaxis 6, galianconism gyroaxis 7, load gyroaxis 8, three gyroaxises meet at a bit in space, this point is called the virtual centre of gyration 9, motion radius of gyration R=3050mm.Manipulator motion device 1 can move on the spherical track face 10 that the radius of gyration and central angle are certain with dynamic load, can band dynamic load rotate around load gyroaxis 8 simultaneously, and proof load gyroaxis 8 points to the centre of sphere in spherical track face 10 all the time, i.e. the virtual centre of gyration 9 of manipulator motion device 1.
Referring to Fig. 2, the assignment test equipment of a kind of mechanically-based arm of the present invention includes: (1) three-axle table 11.Performance parameter requires: have the centre of gyration 12 and the axis of rolling 13, can band dynamic load around the axis of rolling 13 rolling movement, and relatively the axis of rolling 13 does horizontally and vertically angular movement, rolling/horizontal/vertical positions precision respectively ± 0.002o/ ± 0.004o/ ± 0.004o.(2) laser range finder 14, laser range finder 15.Performance parameter require: laser can be launched, can quickly Laser Measurement outgoing end face to measurement put distance；5m place laser spot diameter is not more than 4.5mm；Range accuracy 1mm.(3) steel ball 16.Performance parameter requires: diameter 7mm.(4) fixed support 17.Performance parameter requires: height 5m.(5) laser tracker 18.Performance parameter requires: include measuring ball 19 and main frame 20, measurement ball 19 is placed on extraterrestrial target, by main frame 20 tracking measurement ball 19, space movement target can be tracked and measures in real time the 3 d space coordinate of target, and distance between computation and measurement target and angular relationship, angle-measurement accuracy 5 according to this.Range measurement accuracy 0.2mm.
A kind of assignment test equipment of mechanically-based arm, including: measurement point can be set at distance ground level 5m place.Can quickly measure 2 range informations.Space movement target can be tracked and measure in real time the 3 d space coordinate of target, and calculate the position of extraterrestrial target point and space motion straight line according to this, quantify with distance value and angle value.Range measurement accuracy is 0.2mm, and angle-measurement accuracy is 5.
Referring to Fig. 3, the localization method of a kind of mechanically-based arm of the present invention includes: (1) installs steel ball 16.Adopting fixed support 17 to build measurement point at the virtual centre of gyration 9 place of manipulator motion device 1, this some distance manipulator motion device installed surface height is about 4m.Steel ball 16 is lifted on fixed support 17 with rope and keeps overhang, and when positioning test, the position of steel ball 16 is by pulling rope adjustment below.(2) locking ball 16.Laser range finder 14 is arranged on three-axle table 11, it is ensured that laser range finder 14 exiting surface is positioned at three-axle table 11 centre of gyration 12 place, and outgoing beam and three-axle table 11 axis of rolling 13 are coaxial.Controlling three-axle table 11 drives the relative axis of rolling 13 of laser range finder 14 to do 45o angular movement in vertical plane, by pulling rope to adjust intersection point steel ball 16 position, laser range finder 14 outgoing beam is made to drop on steel ball 16, this shows that steel ball and the three-axle table centre of gyration 12 are in same vertical plane, and error is the upright position precision ± 0.004o of three-axle table 11.Measure now laser range finder 14 beam exit end face to the distance value of steel ball 16.If 2121 ± 5mm, stop adjustment, otherwise continue to adjust steel ball 16 position, till laser range finder 14 outgoing beam drops on steel ball 16 and distance meets requirement.(3) the virtual centre of gyration 9 is positioned.Laser range finder 15 is arranged on the load slewing equipment 4 of manipulator motion device 1, it is ensured that laser range finder 15 exiting surface is positioned at manipulator motion device 1 load installed surface place, and outgoing beam and load gyroaxis 8 are coaxial.Adjust manipulator motion device 1 position and control its long-armed 2 and galianconism 3 move so that in motor process, laser range finder 15 outgoing beam can drop on steel ball 16.Laser Measurement diastimeter 15 outgoing end face is to the distance value of steel ball, if 3050 ± 5mm, stop adjusting, otherwise continue to adjust manipulator motion device 1 position, until long-armed 2, galianconism 3 moves to optional position, till laser range finder 15 outgoing beam all falls within steel ball 16 and distance meets and require.In measurement process, manipulator motion device 1 load gyroaxis error in pointing is 1.4 ＇: steel ball 16 diameter is 7mm, laser range finder 15 laser spot diameter is 4.5mm, manipulator motion device 1 motion radius of gyration 3050mm, error in pointing=arctg (((7-4.5)/2)/3050)=1.4 ＇.
The localization method of a kind of mechanically-based arm includes: by the spatial point hypostazation of distance ground level 4m, and with this point for location reference point, by space motion axis is pointed to hypostazation, is accurately positioned the virtual swivel point of large scale computer mechanical arm telecontrol equipment.The upright position that deviation the is three-axle table 11 precision ± 0.004o of anchor point and three-axle table centre of gyration place vertical plane, range deviation is laser range finder range accuracy 1mm.
Referring to Fig. 4, the method for testing of a kind of mechanically-based arm of the present invention includes: (1) is set up based on three-axle table 11 and measured coordinate system 21.The measurement ball 19 of laser tracker 18 is placed on the three-axle table centre of gyration 12, with the main frame 20 tracking measurement ball 19 of laser tracker 18, record the three-axle table centre of gyration 12 as measuring coordinate origin 22, recording the three-axle table axis of rolling 13 as X-axis 23, it is X-axis 23 forward that initial point 22 points to manipulator motion device 1 direction；In the vertical plane comprising X-axis 23, relative X-axis 23 rotates up 90o and is Y-axis 24；The right-hand rule determines Z axis 25.The angle in test load gyroaxis 8 and XOY face, YOZ face is actual measurement line of sight angle 26.(2) manipulator motion device 1 different motion point place's load gyroaxis 8 locus test.The ball 19 of measuring of laser tracker 18 is placed on the load slewing equipment 4 of manipulator motion device 1, it is ensured that it is measured point and is positioned on load gyroaxis 8.According to given line of sight angle controlled quentity controlled variable 27, control manipulator motion device 1 long-armed 2 and galianconism 3 swings, with the main frame 20 tracking measurement ball 19 of laser tracker 18, the load gyroaxis 8 when recording swing arm motion to diverse location, obtain actual measurement line of sight angle 26.(3) the virtual centre of gyration 9 site error test.Generating relative measurement coordinate system XOY face at the plane 28 that Y-direction height is 1500mm, load gyroaxis 8 intersection point when obtaining plane 28 with diverse location by laser tracker 18, simulate minimum circumscribed circle, its center of circle 29 is the virtual centre of gyration 9 absolute fix.The distance calculating the center of circle 29 and the virtual centre of gyration 9 ideal position is the virtual centre of gyration 9 site error 30.(4) line of sight angle error test.The error at the given line of sight angle 26 of contrast and actual measurement line of sight angle 25, carries out error compensation, optimization aim angle of sight simulation precision to given line of sight angle 26.
The method of testing of a kind of mechanically-based arm includes: in the load axis of rotation sensing of space motion, manipulator motion device can be carried out Accurate Calibration, and with distance and angle precise quantification, quantized result can as error compensation foundation, optimization aim angle of sight simulation precision.The virtual swivel point physical location of manipulator motion device can be carried out Accurate Calibration, and calculating obtains the virtual centre of gyration 9 site error 30 according to this.Space distance measurement precision is 0.2mm, requires that (9mm) differs an order of magnitude with site error.Angle-measurement accuracy is 5, has quantity differential with line of sight angle index request (2 ').
Although the present invention is with preferred embodiment openly as above; but it is not for limiting the present invention; any those skilled in the art are without departing from the spirit and scope of the present invention; may be by the method for the disclosure above and technology contents and technical solution of the present invention is made possible variation and amendment; therefore; every content without departing from technical solution of the present invention; according to any simple modification, equivalent variations and modification that above example is made by the technical spirit of the present invention, belong to the protection domain of technical solution of the present invention.
Claims (12)
1. the locating test device of a mechanically-based arm telecontrol equipment, it is characterized in that, including: three-axle table, laser range finder, steel ball, fixed support and laser tracker, wherein, adopt fixed support and steel ball that measurement point is set, the virtual centre of gyration position of manipulator motion device can be surveyed, and error is less than 1.5 '.
2. adopt laser range finder can quickly measure 2 range informations and make the three-axle table axis of rolling and manipulator motion device load gyroaxis visible；Adopting three-axle table and laser tracker to set up LOS coordinate system based on three-axle table, be accurately positioned mechanical arm telecontrol equipment axle system, error is less than 5 ".
3. the locating test device of a kind of mechanically-based arm telecontrol equipment according to claim 1, it is characterised in that adopt fixed support and steel ball measurement point can be set at distance ground level 5m place.
4. the locating test device of a kind of mechanically-based arm telecontrol equipment according to claim 1, it is characterized in that, described three-axle table includes: have the centre of gyration and the axis of rolling, band dynamic load can carry out rolling movement around the described axis of rolling, and the relatively described axis of rolling does horizontally and vertically angular movement, the axis of rolling can the controlled sensing virtual centre of gyration of manipulator motion device, Angle ambiguity deviation is not more than ± 0.004o.
5. the locating test device of a kind of mechanically-based arm telecontrol equipment according to claim 1, it is characterized in that, described laser range finder can be arranged on three-axle table and manipulator motion device, make the three-axle table axis of rolling and manipulator motion device load gyroaxis visible, the Laser Measurement outgoing end face distance to measurement point and can be reached, wherein, 5m place laser spot diameter is not more than 4.5mm, and range accuracy is not less than 1mm.
6. the locating test device of a kind of mechanically-based arm telecontrol equipment according to claim 1, it is characterized in that, described laser tracker includes measuring ball and main frame, measurement ball is placed on extraterrestrial target, ball is measured by host-tracking, space movement target can be tracked and measures in real time the 3 d space coordinate of target, and distance between computation and measurement target and angular relationship according to this；Described range measurement accuracy is 0.2mm, and angle-measurement accuracy is 5.
7. the localization method of a mechanically-based arm telecontrol equipment, it is characterised in that including: adopt fixed support and steel ball that measurement point is set, as the virtual swivel point location reference point of manipulator motion device；Being arranged on by laser range finder on three-axle table and manipulator motion device, shoot laser makes the three-axle table axis of rolling and manipulator motion device load gyroaxis visible.
8. controlling three-axle table drives laser range finder to do the motion of certain angle in vertical plane, adjusts steel ball position, until three-axle table axis of rolling sensing laser drops on steel ball and distance meets requirement.
9. the localization method of a kind of mechanically-based arm telecontrol equipment according to claim 6, it is characterised in that also include, laser range finder is arranged on the load slewing equipment of manipulator motion device；Adjusting manipulator motion setting position and also control its long-armed and galianconism motion, until long-armed, galianconism moves to optional position, laser range finder outgoing beam all falls within steel ball and distance meets requirement.
10. the positioning test method of a mechanically-based arm telecontrol equipment, it is characterized in that, adopt laser tracker, set up based on three-axle table and measure coordinate system: adopt laser tracker measuring machine mechanical arm telecontrol equipment different motion point place's load gyroaxis locus, obtain actual measurement line of sight angle；The error at the given line of sight angle of contrast and actual measurement line of sight angle, carries out error compensation to given line of sight angle；By the ideal position of the virtual centre of gyration of laser tracker survey calculation and physical location, calculate both distances and be virtual centre of gyration site error.
11. the positioning test method of a kind of mechanically-based arm telecontrol equipment according to claim 9, it is characterized in that, described measurement coordinate system is: measuring the former heart of coordinate system is the three-axle table centre of gyration, X-axis is the three-axle table axis of rolling, it is X-axis forward that initial point points to manipulator motion device direction, being upwards Y-axis in vertical plane, the right-hand rule determines Z axis.
12. the angle in load gyroaxis and XOY face, YOZ face is actual measurement line of sight angle.
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