CN107942668A - A kind of hanging basket position of platform error estimation based on inverse distance-weighting - Google Patents
A kind of hanging basket position of platform error estimation based on inverse distance-weighting Download PDFInfo
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- CN107942668A CN107942668A CN201711226931.3A CN201711226931A CN107942668A CN 107942668 A CN107942668 A CN 107942668A CN 201711226931 A CN201711226931 A CN 201711226931A CN 107942668 A CN107942668 A CN 107942668A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The invention discloses a kind of hanging basket position of platform error estimation based on inverse distance-weighting, belong to engineering measuring technology field.Device used in this method is made of hanging basket platform, laser tracker and target ball.Target ball is fixed on hanging basket platform end, and target ball is as tool center point.This method measures the actual coordinate of some points of hanging basket platform mobile space by laser tracker, obtain the site error of these theoretical coordinates and actual coordinate, by trying to achieve weighting function, using inverse distance weighted interpolation method, the site error of each point in hanging basket platform mobile space is estimated.The method of the inventive method is simple, it is not necessary to establishes the kinematics model of hanging basket platform, has versatility good, can improve the precision of hanging basket platform movement, it is not necessary to the advantages that modifying to hanging basket platform controller equipment inner parameter.
Description
Technical field
The present invention relates to engineering measuring technology, it is more particularly related to which a kind of be based on inverse distance weighted interpolation method
Hanging basket position of platform error estimation.
Background technology
Hanging basket platform is that one of most important equipment is carried in factory floor lifting, is widely used in integrated mill workshop
Product manufacturing, assembling etc., the crane span structure of hanging basket platform along be laid on both sides it is overhead on track it is longitudinally running, trolley is along paving
The track being located on crane span structure is laterally run, and platform end can also move up and down along the upright guide rail of trolley so that hanging basket
Platform end can complete the moving operation in tri- directions of X, Y, Z in space.With the development of science and technology, hanging basket platform can
To aid in the mankind to complete high quality, high-volume, high-precision work in manufacturing industry, such as in terms of automobile making assembling, lead to
Cross hanging basket platform auto parts are moved to accurate position and assembled, substantially reduce manpower workload；But also deposit at the same time
The factor of its development is being restricted, due to composite factor (mismachining tolerance, rigging error, control error, the external world of hanging basket platform
Disturbance, temperature change etc.) influence, the theoretical model of hanging basket platform with realistic model there are certain difference so that hanging
Basket platform end absolute positional accuracy declines, this has great limitation for the application scenario of hanging basket platform.Therefore to hanging basket
The research of the absolute position error estimation of platform end has critically important meaning.Can according to the kinematics model of hanging basket platform
Know, the site error of hanging basket platform is the function of each direction of motion, therefore two points adjacent in hanging basket platform space it
Between there is spatial coherence, the site error of hanging basket platform can be estimated by way of space interpolation.
The content of the invention
For the prior art, object of the present invention is to provide a kind of hanging basket platform based on inverse distance weighted interpolation method
Site error method of estimation, this method are measured the actual coordinate of some points of hanging basket platform mobile space by laser tracker, obtained
To the site error of these theoretical coordinates and actual coordinate, by trying to achieve weighting function, using inverse distance weighted interpolation method,
Estimate the site error of each point in hanging basket platform mobile space.
Device used in the present invention is made of hanging basket platform, laser tracker and target ball.Target ball is fixed on hanging basket and puts down
Platform end.
The present invention is achieved through the following technical solutions.
This method comprises the following steps：
Step 1：Laser tracker is set up on ground, the mobile space of hanging basket platform is included in laser tracker
In measurement range, target ball is installed on hanging basket platform end；
Step 2：Coordinate system is established using hanging basket platform base as basic point, target ball is placed on hanging basket platform end, passes through work
Have central point scaling method, obtain coordinate of the target ball relative to hanging basket platform base coordinate system；
Step 3：By the unified pedestal mark to hanging basket platform of the coordinate system of laser tracker；
Step 4：N point is uniformly chosen in hanging basket platform mobile space as the platform end point to be moved to, that is, is made
For theoretical coordinate, hanging basket platform makes hanging basket platform end reach this n point successively according to the program of establishment, often reaches a point,
Laser tracker measures the coordinate of target ball, is actual coordinate, solves the theoretical coordinate and actual coordinate of hanging basket platform end
Difference, is site error；
Step 5：Solve hanging basket platform mobile space point and n sampling point tolerance weighting function；
Step 6：The site error that the point is tried to achieve according to weighting function is estimated；
Compared with the prior art, the beneficial effects of the present invention are：It is of the present invention to be based on inverse distance weighted interpolation method
Hanging basket position of platform error estimation, method is simple, it is not necessary to establishes the kinematics model of hanging basket platform, has general
Property it is good, can improve hanging basket platform movement precision, it is not necessary to modify to hanging basket platform controller equipment inner parameter
Advantage.
Brief description of the drawings
Fig. 1 is measurement hanging basket position of platform error schematic diagram in the present invention.
In figure：1. hanging basket platform；2. laser tracker；3. target ball；
Embodiment：
Below by with reference to attached drawing, the invention will be further described.
Embodiments of the present invention：
Referring to Fig. 1, device used in the present invention is made of hanging basket platform, laser tracker and target ball.Target ball is fixed
In hanging basket platform end.
The step of being the method for the present invention below, is described in detail.
The specific implementation step of the method for the present invention is as follows：
Step 1：Laser tracker is set up on ground, the mobile space of hanging basket platform is included in laser tracker
In measurement range, target ball is installed on hanging basket platform end；
Step 2：Coordinate system is established using hanging basket platform base as basic point, target ball is placed on hanging basket platform end, passes through work
Have central point scaling method, obtain coordinate of the target ball relative to hanging basket platform base coordinate system；
Step 3：By the unified pedestal mark to hanging basket platform of the coordinate system of laser tracker；
Step 4：N point P are uniformly chosen in hanging basket platform mobile spacek(xk,yk,zk), k=1,2 ..., n is used as and hangs
The basket platform end point to be moved to, is theoretical coordinate, and hanging basket platform makes hanging basket platform end successively according to the program of establishment
This n point, every point are reached, laser tracker measures the coordinate P ' of target ballk(x′k,y′k,z′k), k=1,2 ..., n,
As actual coordinate, then the theoretical coordinate of hanging basket platform end and the site error of actual coordinate are：
e(Pk)=[eX(Pk) eY(Pk) eZ(Pk)]=P 'k-Pk, (k=1,2 ..., n)
Wherein, eX(Pk), eY(Pk), eZ(Pk) difference representation theory position PkIn X, Y, the site error of Z-direction；
Step 5：Hanging basket platform mobile space point P is asked by following formula0(x0,y0,z0) weighting function；
Wherein：λiFor PiRelative to P0Weighting function, diFor P0With PiSpacing distance,
Step 6：According to weighting function λi, using IDW interpolation methods, solve certain point P in hanging basket platform mobile space0Place
Site error is estimatedSite error is estimatedTried to achieve by following formula：
Wherein：λiFor PiWeights.
Claims (1)
- A kind of 1. hanging basket position of platform error estimation based on inverse distance-weighting, it is characterised in that：Device used in the present invention is made of hanging basket platform, laser tracker and target ball, and target ball is fixed on hanging basket platform end End；This method comprises the following steps：Step 1：Laser tracker is set up on ground, the mobile space of hanging basket platform is included in the measurement of laser tracker In the range of, target ball is installed on hanging basket platform end；Step 2：Coordinate system is established using hanging basket platform base as basic point, target ball is placed on hanging basket platform end, by instrument Heart point scaling method, obtains coordinate of the target ball relative to hanging basket platform base coordinate system；Step 3：By the unified pedestal mark to hanging basket platform of the coordinate system of laser tracker；Step 4：N point is uniformly chosen in hanging basket platform mobile space as the platform end point to be moved to, i.e., as reason By coordinate, hanging basket platform makes hanging basket platform end reach this n point successively according to the program of establishment, often reaches a point, laser Tracker measures the coordinate of target ball, is actual coordinate, solves the theoretical coordinate of hanging basket platform end and the difference of actual coordinate, i.e., For site error；Step 5：Solve hanging basket platform mobile space point and n sampling point tolerance weighting function；Step 6：The site error that the point is tried to achieve according to weighting function is estimated.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711226931.3A CN107942668A (en) | 2017-11-29 | 2017-11-29 | A kind of hanging basket position of platform error estimation based on inverse distance-weighting |
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| CN201711226931.3A CN107942668A (en) | 2017-11-29 | 2017-11-29 | A kind of hanging basket position of platform error estimation based on inverse distance-weighting |
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| CN107942668A true CN107942668A (en) | 2018-04-20 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764806A (en) * | 2019-01-04 | 2019-05-17 | 西安交通大学 | Sound state calibrating installation and dynamic and static calibration method for laser tracker |
| CN110345867A (en) * | 2019-07-15 | 2019-10-18 | 北京工业大学 | A method of the space CMM Point Coordinates error is corrected based on inverse distance weighting |
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| CN104866916A (en) * | 2015-05-05 | 2015-08-26 | 北京师范大学 | Rainfall interpolation analysis method based on weight optimization and inverse distance weighting |
| CN105955929A (en) * | 2016-04-26 | 2016-09-21 | 上海大学 | Data scientific visualization-oriented inverse distance weighting mixed interpolation method |
| CN106799745A (en) * | 2017-01-17 | 2017-06-06 | 北京航空航天大学 | A kind of industrial machinery arm precision calibration method based on collocating kriging |
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2017
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| CN104866916A (en) * | 2015-05-05 | 2015-08-26 | 北京师范大学 | Rainfall interpolation analysis method based on weight optimization and inverse distance weighting |
| CN105955929A (en) * | 2016-04-26 | 2016-09-21 | 上海大学 | Data scientific visualization-oriented inverse distance weighting mixed interpolation method |
| CN106799745A (en) * | 2017-01-17 | 2017-06-06 | 北京航空航天大学 | A kind of industrial machinery arm precision calibration method based on collocating kriging |
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| 周炜等: "基于空间插值的工业机器人精度补偿方法理论与试验", 《机械工程学报》 * |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764806A (en) * | 2019-01-04 | 2019-05-17 | 西安交通大学 | Sound state calibrating installation and dynamic and static calibration method for laser tracker |
| CN109764806B (en) * | 2019-01-04 | 2021-01-19 | 西安交通大学 | Dynamic and static calibration device and dynamic and static calibration method for laser tracker |
| CN110345867A (en) * | 2019-07-15 | 2019-10-18 | 北京工业大学 | A method of the space CMM Point Coordinates error is corrected based on inverse distance weighting |
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