CN109238188A - A kind of parameter calibration method of three-dimensional motion mechanism - Google Patents
A kind of parameter calibration method of three-dimensional motion mechanism Download PDFInfo
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- CN109238188A CN109238188A CN201810991984.2A CN201810991984A CN109238188A CN 109238188 A CN109238188 A CN 109238188A CN 201810991984 A CN201810991984 A CN 201810991984A CN 109238188 A CN109238188 A CN 109238188A
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- standard component
- parameter
- dimensional motion
- motion mechanism
- kinematics model
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Abstract
The invention discloses a kind of parameter calibration method of three-dimensional motion mechanism, kinematics model is established in DH method and is used for the parameter calibration of three-dimensional motion mechanism, be tested movement mechanism and include at least translation carrier, rotation vector；One or more sensors is set on translation carrier；The standard component of respective sensor number is set on rotation vector；And standard component is equipped with the detection faces of arc-shaped；Using DH method to the carry out kinematics model foundation in standard component detection faces；On the basis of the installation initial position for being tested movement mechanism, by solving kinematics model and installing the optimization problem between initial position to obtain the motion parameter of tested movement mechanism.The calibration process is simple, it is only necessary to which the spherical surface standard component of a standard of comparison is placed on objective table, can demarcate the evaluation of effect by realizing to the measurement of standard component after the completion of calibration.
Description
Technical field
The present invention relates to the field of industry detection of automatic structure, especially a kind of parameter calibration side of three-dimensional motion mechanism
Method.
Background technique
In Multi-shaft movement mechanism, if cannot relatively accurately obtaining means kinematic parameter, can greatly influence machine
The precision of structure movement, all has a great impact to processing, operation, detection etc..
Industrial at present not mature scaling method, some calibration process have only demarcated componental movement parameter, Bu Nengshi
The calibration of existing total movement parameter.Some have used more complicated special calibrating fixture, and operating process is complex.
In the prior art, common kinetic system parameter detection method is to be applied to robot motion's parametric measurement.In the party
In method, the inertial coodinate system of robot is remained unchanged, and reference frame origin is fixed on supporting leg, and each change in coordinate axis direction one
It is directly parallel to the reference axis of inertial coodinate system, in addition, the link rod coordinate system of robot is established based on DH method.But in work
In industry structure, the three-dimensional architecture of five axis transmission is more universal, and operation and maintenance are also more common.It is used different from robot
Property motion mode, five axis three-dimensional motion structures proofread with greater need for accurate data, and accuracy and precision are to influence industry
An important factor for production and processing.Therefore, it is badly in need of a kind of accurate and effective detection method to carry out the calibration of equipment moving parameter.
Summary of the invention
Object of the present invention is to: a kind of parameter calibration method of three-dimensional motion mechanism is provided, which solve in current technology
Calibrating parameters process is complicated, the not accurate problem of parameter calibration.
The technical scheme is that a kind of parameter calibration method of three-dimensional motion mechanism, establishes kinematics in DH method
Model and the parameter calibration for being used for three-dimensional motion mechanism are tested movement mechanism and include at least translation carrier, rotation vector；It is translating
One or more sensors is set on carrier；The standard component of respective sensor number is set on rotation vector；And standard component
It is equipped with the detection faces of arc-shaped；Using DH method to the carry out kinematics model foundation in standard component detection faces；With tested fortune
On the basis of the installation initial position of motivation structure, by solve kinematics model and install initial position between optimization problem with
Obtain the motion parameter of tested movement mechanism.
Preferably, kinematics model is carried out to the basic point in standard component detection faces using DH method are as follows: P=MPr,
In:
Wherein: TpRelative positional relationship matrix between objective table on rotation vector and α axis；
xs,ys,zsFor the relative position between translation carrier and rotation vector；
TrFor the relative positional relationship matrix between sensor and translation carrier；
PrFor sensor reading.
Preferably, in order to obtain higher measurement accuracy, need relatively accurately to obtain the specific number of each kinematic parameter
Value；If used model inaccuracy or parameter is inaccurate is all unable to correct measurement object, therefore, above-mentioned kinematics mould
Type may be: P=M (Vec, m) Pr；Wherein: by expressed as parameters at vector Vec, then joint variable is expressed as vector m.
Preferably, the standard component is placed in the objective table on rotation vector, the standard component or be spherical surface hill
Spherical crown object, standard component or the concave surface object for spherical depression.
Preferably, motion model is the basic point P on standard component, and basic point P can always be described as a point set, movement
It learns model and the optimization problem between initial position is installed are as follows:Wherein O is tested fitness machine
The installation initial position of structure, R are the spherical radius on standard component.
The invention has the advantages that
1, calibration process is simple, it is only necessary to which the spherical surface standard component of a standard of comparison is placed on objective table, is being demarcated
The evaluation of effect can be demarcated by realizing to the measurement of standard component after the completion.
2, the benchmark in cambered surface is measured using sensor, covering surface is wider, and carries out mould by DH method
Type is established, and calibration result is accurate.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and embodiments:
Fig. 1 is the five axis three-dimensional structure simplification figures that kinematics model is established using DH method；
Fig. 2 is the relationship simplification figure in five axis three-dimensional structures between each axis；
Fig. 3 is the simplification figure for being placed with five axis three-dimensional structures of spherical crown standard component；
Fig. 4 is location diagram when multiple spherical surface standard components are placed；
Fig. 5 is the Structure Comparison schematic diagram of various criterion part；
Fig. 6 is the DH model schematic by taking serial mechanism as an example.
Specific embodiment
1 to 6 illustrates the present embodiment with reference to the accompanying drawing:
A kind of parameter calibration method of three-dimensional motion mechanism establishes kinematics model in DH method and for three-dimensional motion machine
The parameter calibration of structure.
DH method is such as the concatenated mechanism of institute in Fig. 6 based on DH model, DH model be used to describe two it is adjacent
Relationship between joint.General DH model has 4 parameters:
For cradle head θn+1For joint variable, for linear joint αn+1For joint variable.
Five-shaft movement mechanism can expand the measurement range of sensor, be tested movement mechanism and include at least translation carrier, turn
Dynamic load body.Sensor is fixed on the last one axis of translation carrier, and as shown in Figures 1 to 3, sensor is arranged on Z axis, is passed
Sensor can be moved up and down with Z axis.Objective table is provided on rotation vector, rotation vector can provide two for objective table
The rotation of freedom degree can enable the sensor to the object that scanning survey has larger angle by the rotation of the two freedom degrees
Body.
Kinematics model is carried out to the basic point in standard component detection faces using DH method are as follows: P=MPr, in which:
Wherein: TpRelative positional relationship matrix between objective table on rotation vector and α axis；
xs,ys,zsFor the relative position between translation carrier and rotation vector；
TrFor the relative positional relationship matrix between sensor and translation carrier；
PrFor sensor reading.
It is needed in above-mentioned model containing 28 parameters and 5 joint variables in order to obtain higher measurement accuracy altogether
Relatively accurately obtain the specific value of each kinematic parameter；If used model inaccuracy or parameter is inaccurate all cannot
Correct measurement object, therefore, above-mentioned kinematics model may be: P=M (Vec, m) Pr；Wherein: by expressed as parameters to
Vec is measured, then joint variable is expressed as vector m.
Acquisition accurate parameter, standard component are placed in the objective table on rotation vector, standard component or convex for spherical surface
The spherical crown object risen, standard component or the concave surface object for spherical depression.A part of spherical surface is capable of increasing covering surface, then moves
Sensor enables the sensor to measure the object, then records the joint variable value of each axis and the reading of sensor.
Motion model is the basic point P on standard component, and basic point P can always be described as a point set.
||Pk-Op| |-R=0, whereinWherein O is tested
The installation initial position of movement mechanism, R are the spherical radius on standard component.
Due to installing there are factors such as errors, the result of institute's above formula might not be set up.If in kinematics model
Parameter is more accurate, then the above formula left side is just closer to 0.It, can be by solving one in order to obtain more accurately kinematics parameters
Relatively common optimization problem.Ask one group of kinematics parameters make sum ((| | Pi,k-Op||-R)2) minimum.
I.e.
One conventional solutions of this optimization problem are gauss-newton method and its innovatory algorithm, these algorithms generally require
The installation site of design can be used to obtain, i.e., using the design value of mechanism as initial in one group of initial value, this initial value
Value.Small number of point can be first taken in actual operation, then take greater number of point again, successive optimization is to reach best
Effect.
This programme is when solving kinematics parameters, it is only necessary to which a popularization of a spherical equation, this programme is: can make
It is demarcated with multiple spherical surfaces, it is only necessary to the relative position between spherical surface and spherical surface is known, as shown in figure 4, needing at this time pair
The acquisition of each spherical surface acquires in data, or disposable acquisition standard component the data of all spherical surfaces and respectively to collected data
It is split, the subset for obtaining each segmentation is corresponding with each spherical surface.And the land portions on standard component surface can be one
Perhaps all surfaces do not limit a part that protrusion surface is spherical surface or sunk part to part of the surface is spherical surface, such as
Shown in Fig. 5.
This programme can be adapted for the calibration of the equipment of other forms, it is only necessary to be set according to the specific form of equipment to modify
Standby kinematics model.
This programme is readily applicable to the calibration of other equipment, is not limited to measuring device, and condition is that equipment can
Kinematic Model is carried out to it using DH method.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any
Those skilled in the art all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.
Therefore, such as those of ordinary skill in the art without departing from revealed spirit of the invention under technical idea
All equivalent modifications completed or change should be covered by the claims of the present invention.
Claims (5)
1. a kind of parameter calibration method of three-dimensional motion mechanism establishes kinematics model in DH method and for three-dimensional motion mechanism
Parameter calibration, it is characterised in that: tested movement mechanism includes at least translation carrier, rotation vector；It is arranged on translation carrier
One or more sensors；The standard component of respective sensor number is set on rotation vector；And standard component is equipped with circular arc
The detection faces of shape；Using DH method to the carry out kinematics model foundation in standard component detection faces；To be tested the peace of movement mechanism
On the basis of filling initial position, by solving kinematics model and installing the optimization problem between initial position to obtain tested fortune
The motion parameter of motivation structure.
2. a kind of parameter calibration method of three-dimensional motion mechanism according to claim 1, it is characterised in that: utilize DH method
Kinematics model is carried out to the basic point in standard component detection faces are as follows: P=MPr, in which:
Wherein: TpRelative positional relationship matrix between objective table on rotation vector and α axis；
xs,ys,zsFor the relative position between translation carrier and rotation vector；
TrFor the relative positional relationship matrix between sensor and translation carrier；
PrFor sensor reading.
3. a kind of parameter calibration method of three-dimensional motion mechanism according to claim 2, it is characterised in that: in order to obtain more
High measurement accuracy needs relatively accurately to obtain the specific value of each kinematic parameter；If used model inaccuracy or
Parameter is inaccurate to be all unable to correct measurement object, and therefore, above-mentioned kinematics model may be: P=M (Vec, m) Pr；Its
In: by expressed as parameters at vector Vec, then joint variable is expressed as vector m.
4. a kind of parameter calibration method of three-dimensional motion mechanism according to claim 1 or 3, it is characterised in that: the mark
Quasi- part is placed in the objective table on rotation vector, the standard component or the spherical crown object for spherical surface hill, standard component or be spherical surface
The concave surface object of recess.
5. a kind of parameter calibration method of three-dimensional motion mechanism according to claim 4, it is characterised in that: motion model is
For the basic point P on standard component, and basic point P can always be described as a point set, between kinematics model and installation initial position
Optimization problem are as follows:Wherein O is the installation initial position of tested movement mechanism, and R is standard component
On spherical radius.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102279563A (en) * | 2010-06-13 | 2011-12-14 | 天津理工大学 | Method for establishing parameterized kinematics model library for nonstandard digital equipment operator |
| CN106041932A (en) * | 2016-07-01 | 2016-10-26 | 广东工业大学 | Movement control method for UR robot |
| CN108286946A (en) * | 2018-01-30 | 2018-07-17 | 周蕊 | The method and system of sensing station mark fixed sum data splicing |
-
2018
- 2018-08-29 CN CN201810991984.2A patent/CN109238188A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102279563A (en) * | 2010-06-13 | 2011-12-14 | 天津理工大学 | Method for establishing parameterized kinematics model library for nonstandard digital equipment operator |
| CN106041932A (en) * | 2016-07-01 | 2016-10-26 | 广东工业大学 | Movement control method for UR robot |
| CN108286946A (en) * | 2018-01-30 | 2018-07-17 | 周蕊 | The method and system of sensing station mark fixed sum data splicing |
Non-Patent Citations (1)
| Title |
|---|
| 程文涛: "关节式坐标测量机标定技术研究", 《中国博士学位论文全文数据库工程科技Ⅱ辑》 * |
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