CN114526755B - Parallel motion platform linear axis calibration method based on inertial measurement unit - Google Patents
Parallel motion platform linear axis calibration method based on inertial measurement unit Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a parallel motion platform linear axis calibration method based on an inertial measurement unit, which mainly comprises the following steps: firstly, measuring the dynamic pose of the parallel motion platform moving along the linear axis through an inertial measurement unit, secondly, establishing a pose error identification model of the parallel motion platform, and finally, establishing a functional model of the pose error, and optimally solving the structural error of the parallel motion platform. Compared with the traditional optical and mechanical measuring method, the method has the advantages of portability, simplicity, high efficiency, reliability and high precision, and has obvious advantages in the aspect of dynamic performance test of the parallel motion platform.
Description
Technical Field
The invention relates to a parallel motion platform linear axis calibration method based on an inertial measurement unit.
Background
The precision problem of the parallel motion platform is a current big research hot spot, the parallel motion platform can be regarded as a closed-loop motion chain mechanism, and factors influencing the precision of the parallel motion platform mainly comprise manufacturing and assembly errors and driving errors. The platform can obtain better precision through calibration, so the calibration of the parallel motion platform is the basis of precision analysis.
The multi-degree-of-freedom pose measurement is always a difficult problem in the field of robots. Currently, common parallel motion platform linear axis calibration methods include a laser tracker measurement method and a mechanical measurement method. The laser tracker measuring method based on the laser interference principle has the advantages of simple operation, full-automatic tracking, high measuring speed, good dynamic performance and the like, and can realize high-precision platform rotation movement measurement, but the laser tracker measuring system is complex, large in size, high in cost, strict in measuring distance requirement and limited in measuring range, new errors are introduced when the laser tracker target ball target seat is installed, and high-frequency movement is difficult to track, so that the test is difficult to realize. The traditional mechanical measurement method can measure the rotation angle and the rotation angular velocity of the platform by using a double-axis or triaxial inclination sensor, has the advantages of simple measurement system, low cost, flexibility, high efficiency and the like, is limited by the frequency characteristic of the sensor, and has low measurement accuracy. The inertial measurement unit has the advantages of high efficiency, high stability, wide dynamic range, small volume, digital output, dynamic measurement and the like. The parallel motion platform is calibrated by using the inertial measurement unit, so that the pose of the parallel motion platform can be obtained at one time, the deviation of the rest five degrees of freedom in linear motion is obtained, and external measurement information is provided for the calibration of the parallel motion platform.
Aiming at the defects of complex measuring system, poor flexibility, high cost, easiness in introducing new errors and the like of the conventional parallel motion platform linear axis calibration method, the invention provides the parallel platform linear axis calibration method based on the inertial measurement unit, which has the advantages of high efficiency, high stability, wide dynamic range, digital output and large measuring range. The parallel motion platform linear axis calibration method based on the inertial measurement unit can directly measure all parameters of the platform linear motion at one time, and provides a basis for six-degree-of-freedom dynamic pose measurement.
Disclosure of Invention
Aiming at the defects of complex measurement system, poor flexibility, high cost, easiness in introducing new errors and the like in the conventional parallel motion platform linear axis calibration, the invention provides an inertial measurement unit-based parallel motion platform calibration method with high efficiency, high stability, wide dynamic range, digital output and large measurement range.
The device for calibrating the platform parallel motion platform based on the inertial measurement unit comprises a parallel motion platform, a direct current power supply, the inertial measurement unit and a portable computer; the inertial measurement unit is arranged at the center of the platform, and three axially aligned data acquisition serial ports are connected with a portable computer with a data receiving and processing function.
The parallel motion platform linear axis calibration method based on the inertial measurement unit comprises the following steps:
1.1): the inertial measurement unit is fastened at the exact center of the calibrated parallel moving platform, and the three axial directions of the inertial measurement unit are aligned with the three moving directions of the moving platform, so that the calibrated parallel moving platform is controlled to return to the zero position.
1.2): linear axis Q to be tested of parallel motion platform in calibration process is set 1j Where j= X, Y, Z, and the motion frequency F of the platform;
1.3): controlling the calibrated parallel motion platform to move along the linear axis Q at the frequency point F 1j Sinusoidal motion is performed, and the pose deviation of the other two axial directions of the platform is obtained by using an inertial measurement unit. The two-axis pose deviation set of all frequencies measured by the inertial measurement unit is recorded as Q 2j And controlling the parallel motion platform to return to zero again;
1.4): repeating the step 1.3 until the test of all axial pose deviations of the parallel motion platform is completed, and similarly obtaining a pose deviation set Q of the other two axial directions 2i ；
1.5): and establishing a structural parameter error model of the parallel motion platform based on all obtained linear axial pose deviations:
Δl＝J n Δc+J m Δm (1)
wherein:
J m ＝diag([J i ])
wherein: j (J) i ＝[-s i T s i T R-λ i s i T Δ i ]
Δl＝[dL i ] T
Δc＝[dp dω] T
I=1, 2, …,6 in all formulae.
Due to the controllability of the parallel mechanism, the mechanism is not singular and does not generate 'dead point', namely J n Reversible, so that formula (1) can be converted into:
Δc＝J[ΔlΔm] T (2)
wherein:j is the error jacobian matrix of the parallel mechanism.
Wherein: Δl is the length error of the parallel motion platform electric cylinder rod; Δc is the motion platform pose error; dp is the movement error of the movable platform along the coordinate axis; dω is the attitude angle error of the movable platform around the coordinate axis; db in Δm i The hook hinge point error of the static platform; da A i The hinge point error of the movable platform; dt (dt) i Is a guide rail direction vector; j (J) n Middle s i The direction vector of the parallel motion platform electric cylinder under the static platform; r is a rotation matrix from a movable platform to a static platform; a, a i The position coordinates of the movable platform hinge point under the movable platform coordinate system are obtained; j (J) m Lambda in (lambda) i Is driven; delta i The differential coefficient is the vector of the direction of the platform guide rail; the variable upper right symbol T is the transpose of the matrix and-1 is the inverse of the matrix.
1.6): jacobian error equation of the measured error data simultaneous parallel motion platform is utilized, and based on max Q 2j ||<Sigma criterion, such that sigma approaches 0. And calculating the structural error of the parallel motion platform to finish the linear axial calibration of the platform.
The plane motion displacement and track measurement method has the following advantages:
(1) Aiming at the defects in the existing parallel motion platform error calibration, the method utilizes the unique advantages of the inertial measurement unit in inertial measurement: dynamic test, large sampling frequency and real-time display of motion errors of the parallel mechanism. A parallel motion platform linear axis calibration method based on an inertial measurement unit is designed. (2) The method has the advantages of simple, flexible and efficient measuring process and low system cost, is suitable for calibrating the linear axes of the parallel motion platforms in different frequency ranges in the step 1.3), and only needs one inertial measuring unit for measuring angles and positions.
Drawings
FIG. 1 is a schematic diagram of an apparatus for practicing the method of the present invention;
FIG. 2 is a flow chart of a parallel motion platform linear axis calibration method based on an inertial measurement unit;
Detailed Description
Aiming at the defects of complex measurement system, poor flexibility, high cost, easiness in introducing new errors and the like of the current parallel motion platform rotation dynamic test method, the invention provides the platform test method based on the inertial measurement unit, which has the advantages of high efficiency, high stability, wide dynamic range, digital output and large measurement range. The method directly carries out the alignment of the linear axes of the parallel motion platform by utilizing the advantages of the inertial measurement unit, and the invention is described in detail below with reference to the accompanying drawings and specific implementation examples.
Referring to fig. 1, there is shown a schematic diagram of an apparatus for carrying out the method of the present invention, which comprises: the device comprises a parallel motion platform (1), a direct current power supply (2), an inertial measurement unit (3) and a portable computer (4); the inertial measurement unit (3) is arranged at the central position of the parallel motion platform (1), the data acquisition serial port (6) is connected with the portable computer (4) with the data receiving and processing function, and the measurement result is stored and displayed.
Referring to fig. 2, a flow chart of a parallel motion platform linear axis calibration method based on an inertial measurement unit is shown.
The measuring method mainly comprises the following steps:
step S1: the inertial measurement unit is fastened at the exact center of the calibrated parallel moving platform, and the three axial directions of the inertial measurement unit are aligned with the three moving directions of the moving platform, so that the calibrated parallel moving platform is controlled to return to the zero position.
Step S2: linear axis Q to be tested of parallel motion platform in calibration process is set 1j Where j= X, Y, Z, and the motion frequency F of the platform;
step S3: controlling the calibrated parallel motion platform to move along the linear axis Q at the frequency point F 1j Sinusoidal motion is performed, and the pose deviation of the other two axial directions of the platform is obtained by using an inertial measurement unit. The two-axis pose deviation set of all frequencies measured by the inertial measurement unit is recorded as Q 2j And controlling the parallel motion platform to return to zero again;
step S4: repeating the step S3 until the test of all axial pose deviations of the parallel motion platform is completed, and similarly obtaining a pose deviation set Q of the other two axial directions 2j ；
Step S5: and establishing a structural parameter error model of the parallel motion platform based on all obtained linear axial pose deviations:
Δl＝J n Δc+J m Δm (1)
wherein:
J m ＝diag([J i ])
wherein: j (J) i ＝[-s i T s i T R-λ i s i T Δ i ]
Δl＝[dL i ] T
Δc＝[dp dω] T
I=1, 2, …,6 in all formulae.
Due to the controllability of the parallel mechanism, the mechanism is not singular and does not generate 'dead point', namely J n Reversible, so that formula (1) can be converted into:
Δc＝J[ΔlΔm] T (2)
wherein:j is an error jacobian matrix.
Wherein: Δl is the length error of the parallel motion platform electric cylinder rod; Δc is the motion platform pose error; dp is the movement error of the movable platform along the coordinate axis; dω is the attitude angle error of the movable platform around the coordinate axis; db in Δm i The hook hinge point error of the static platform; da A i The hinge point error of the movable platform; dt (dt) i Is a guide rail direction vector; j (J) n Middle s i The direction vector of the parallel motion platform electric cylinder under the static platform; r is a rotation matrix from a movable platform to a static platform; a, a i The position coordinates of the movable platform hinge point under the movable platform coordinate system are obtained; j (J) m Lambda in (lambda) i Is driven; delta i The differential coefficient is the vector of the direction of the platform guide rail; the variable upper right symbol T is the transpose of the matrix and-1 is the inverse of the matrix.
Step S6: jacobian error equation of the measured error data simultaneous parallel motion platform is utilized, and based on max Q 2j ||<Sigma criterion, such that sigma approaches 0. And calculating the structural error of the parallel motion platform to finish the linear axial calibration of the platform. The above-mentioned is a specific method for testing the angle error and the angular rate error of the parallel motion platform by using the parallel motion platform testing method based on the inertial measurement unit.
The above description is intended to be illustrative of the embodiments of the invention and is not to be taken in any way as limiting. One of ordinary skill in the art will be able to make a number of optimizations, improvements, modifications, etc. based on the present invention. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (2)
1. A parallel motion platform linear axis calibration method based on an inertial measurement unit is characterized by comprising the following steps of: the calibration method comprises the steps of,
step S1: the inertial measurement unit is fastened at the exact center of the calibrated parallel moving platform, and three axial directions of the inertial measurement unit are aligned with three moving directions of the moving platform, so that the calibrated parallel moving platform is controlled to return to a zero position;
step S2: linear axis Q to be tested of parallel motion platform in calibration process is set 1j Where j= X, Y, Z, and the motion frequency F of the platform;
step S3: controlling the calibrated parallel motion platform to move along the linear axis Q at the frequency point F 1j Sinusoidal motion is performed, and the rest two axial pose deviations of the platform are obtained by utilizing an inertial measurement unit; the two-axis pose deviation set of all frequencies measured by the inertial measurement unit is recorded as Q 2j And controlling the parallel motion platform to return to zero again;
step S4: repeating the step S3 until the test of all axial pose deviations of the parallel motion platform is completed, and obtaining a pose deviation set Q of the other two axial directions 2j ；
Step S5: and establishing a structural parameter error model of the parallel motion platform based on all obtained linear axial pose deviations:
Δl＝J n Δc+J m Δm (1)
wherein:
J m ＝diag([J i ])
wherein:
Δl＝[dL i ] T
Δc＝[dp dω] T
all formulae i=1, 2, …,6;
due to the controllability of the parallel mechanism, the mechanism is not singular and does not generate 'dead point', namely J n Reversible, so that formula (1) can be converted into:
Δc＝J[Δl Δm] T (2)
wherein:j is an error jacobian matrix;
wherein: Δl is the length error of the parallel motion platform electric cylinder rod; Δc is the motion platform pose error; dp is the movement error of the movable platform along the coordinate axis; dω is the attitude angle error of the movable platform around the coordinate axis; db in Δm i The hook hinge point error of the static platform; da A i The hinge point error of the movable platform; dt (dt) i Is a guide rail direction vector; j (J) n Middle s i The direction vector of the parallel motion platform electric cylinder under the static platform; r is a rotation matrix from a movable platform to a static platform; a, a i The position coordinates of the movable platform hinge point under the movable platform coordinate system are obtained; j (J) m Lambda in (lambda) i Is driven; delta i The differential coefficient is the vector of the direction of the platform guide rail; the symbol T at the upper right corner of the variable is the transposition of the matrix, and-1 is the inverse of the matrix;
step S6: jacobian error equation of the measured error data simultaneous parallel motion platform is utilized, and based on max Q 2j ||<Sigma criterion, such that sigma approaches 0; and calculating the structural error of the parallel motion platform to finish the linear axial calibration of the platform.
2. The parallel motion platform linear axis calibration method based on the inertial measurement unit according to claim 1, wherein the method comprises the following steps: the device for realizing the method comprises the following steps: the device comprises a parallel motion platform (1), a direct current power supply (2), an inertial measurement unit (3), a portable computer (4), a power connection (5) and a data acquisition serial port (6);
the inertial measurement unit (3) is arranged on the working table surface of the parallel moving platform (1), and the inertial measurement unit (3) is positioned at the center of the parallel moving platform (1); the direct current power supply (2) is arranged near and above the inertial measurement unit (3) and supplies power to the inertial measurement unit (3) through a power connection (5); the data acquisition serial port (6) is connected with the portable computer (4) with the data receiving and processing function, the data transmission line transmits the output data of the inertial measurement unit (3) to the portable computer (4), and the calibration result of the parallel motion platform is stored and displayed through the analysis and the processing of the portable computer (4).
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