Coordinate model and calibration algorithm of multi-joint arm

ZOU Xuan; LI De-hua

doi:null

您当前的位置：

首页 >

文章列表页 >

Coordinate model and calibration algorithm of multi-joint arm

更新时间：2020-08-12

- Coordinate model and calibration algorithm of multi-joint arm
- Optics and Precision Engineering Vol. 9, Issue 3, Pages: 252-256(2001)
- 作者机构：
  
  华中科技大学图像识别与人工智能研究所图像信息处理与智能控制教育部重点实验室,湖北武汉,430074
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242.6
- Received：28 December 2000，
  
  Revised：10 April 2001，
  
  Published Online：15 June 2001，
  
  Published：15 June 2001
- 稿件说明：
移动端阅览
邹璇, 李德华. 多关节机械臂的坐标模型和参数标定[J]. 光学精密工程, 2001,(3): 252-256

ZOU Xuan, LI De-hua . Coordinate model and calibration algorithm of multi-joint arm[J]. Editorial Office of Optics and Precision Engineering, 2001,(3): 252-256
邹璇, 李德华. 多关节机械臂的坐标模型和参数标定[J]. 光学精密工程, 2001,(3): 252-256 DOI：

ZOU Xuan, LI De-hua . Coordinate model and calibration algorithm of multi-joint arm[J]. Editorial Office of Optics and Precision Engineering, 2001,(3): 252-256 DOI：

摘要

对多关节机械臂式三维坐标采集系统中使用的空间坐标模型和参数标定方法进行了研究.首先提出了具有普适性的杆件单元模型

并基于此建立了多关节机械臂式三维坐标测量机构的坐标模型.继而讨论了模型中各系统参数的标定问题

在研究基于最小二乘法和迭代的标定方法之后提出了一种基于实数编码型遗传算法的标定方法

它具有定标点数不受限制

精度高等优点.实验结果证明这种标定方法有较好的实用性和鲁棒性.

Abstract

The focus of the paper is on the coordinate model and calibration of multi-joint type CMM. Begining with a generalized model of a pair unit

by which the coordinate model of a Multi-Joint Type 3D Scanner (MJT3DS) system can be easily deduced. The paper presents a new approach to the calibration of parameters in the model. Based on the real-valued genetic algorithm

the calibration algorithm is superior in many respects to the linear algorithm applying least square and iterative algorithm. The feasibility and robustness of this algorithm have been proved by computer simulation.

关键词

Keywords

references

Denavit J, Hartenberg R. A kinematic notation for lower pair mechanism based on matrices[J]. ASME Journal of Applied Mechanics, 1955,22(6): 215-221.

叶东,黄庆成,车仁生.多关节坐标测量机的误差模型[J].光学精密工程,1999,7(2):91-96.

叶东,黄庆成,车仁生.六自由度关节式坐标测量机关节零位偏差的标定算法[J].工具技术,1999,33:34-36.

周明,孙淑栋.遗传算法原理及应用[M].北京:国防工业出版社,1999.

Views

1485

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Parameter calibration of laser tracking attitude measurement system based on multi-position targets

Establishment and optimization of aerial multispectral field straw mulch quantity inversion model

Automatic calibration and control system of optical switching delay line

CAD stereo model multi-source matching for ICF target pose measurement

Simulation of stellar spectrum controlled by fuzzy PID

Related Author

XIONG Zhi

ZHONG Chenxiaopeng

ZHANG Hao

JIA Xiaodong

GUO Zhengnan

ZHAO Ziyue

ZHAI Zhongsheng

ZHOU Weihu

Related Institution

Hubei Key Laboratory of Modern Manufacture Quality Engineering， School of Mechanical Engineering， Hubei Wniversity of Technology

Changcheng Institute of Metrology & Measurement

Institute of Microelectronics， Chinese Academy of Sciences

College of Information Technology（Institute of Intelligent Agriculture）， Jilin Agricultural University

College of Engineering and Technology， Jilin Agricultural University

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰