基于柔性立体靶标的五轴机械本体运动学标定
文献类型：会议论文
| 作者 | 陈天飞 ; 赵吉宾; 吴翔; 黄进
|
| 出版日期 | 2015 |
| 会议名称 | 26th Chinese Process Control Conference (CPCC2015) |
| 会议日期 | July 31 - August 3, 2015 |
| 会议地点 | Nanchang, China |
| 关键词 | 五轴机械本体 运动学模型 柔性立体靶标 标定 |
| 页码 | 1 |
| 其他题名 | Kinematic Calibration of 5-axis Machine Body Based on Flexible 3D Target |
| 中文摘要 | 针对五轴机械运动本体,提出了一种基于柔性立体靶标的运动学标定方法。首先,分析了五轴机械本体不同类型的运动关节,建立了对应完整的运动学模型。然后在关节轨迹法的基础上,采用了轨迹点的视觉计算原理,并设计了由位置不变的固定靶标和可自由放置的移动靶标组成的柔性立体靶标,可扩大各关节的运动轨迹范围,从而避免了对大型标定靶或者昂贵测量设备的依赖,降低了标定成本,并且该方法操作灵活,更适合现场标定。最后实验结果表明方法具有较高的精度,平均误差为0.3080mm。 |
| 英文摘要 | A calibration method based on flexible 3D target is proposed for the kinematic model of 5-axis machine body. First, the complete kinematics model is established after the analysis of different types of joint motion. Then, on the basis of joint trajectory method, vision calculation approach for trace point is adopted. In order to expand range of joint motion trajectory, flexible 3D target composed of fixed target and moving target is designed, and the fixed target’s position is unchanged, but the moving target can be freely placed. So the proposed method reduces calibration cost and avoids using large target and expensive measurement equipments. In addition, it is flexible in operation and more suitable for caliration on site. Finally, the experimental results show that the proposed method has higher accuracy, the average error is 0.3080mm. |
| 产权排序 | 1 |
| 会议主办者 | East China Jiaotong University |
| 会议录 | 26th Chinese Process Control Conference (CPCC2015)
 |
| 语种 | 中文 |
| 源URL | [http://ir.sia.cn/handle/173321/19143]  |
| 专题 | 沈阳自动化研究所_装备制造技术研究室 |
| 推荐引用方式 GB/T 7714 | 陈天飞,赵吉宾,吴翔,等. 基于柔性立体靶标的五轴机械本体运动学标定[C]. 见:26th Chinese Process Control Conference (CPCC2015). Nanchang, China. July 31 - August 3, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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