Residual modelling and compensation for articulated arm coordinate measuring machines based on compound calibration and extreme learning machine

GAO Guanbin; XIE Pei; LIU Fei; NA Jing

doi:10.37188/OPE.20233122.3289

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Residual modelling and compensation for articulated arm coordinate measuring machines based on compound calibration and extreme learning machine

Micro/Nano Technology and Fine Mechanics | 更新时间：2023-11-28

- Residual modelling and compensation for articulated arm coordinate measuring machines based on compound calibration and extreme learning machine
- Optics and Precision Engineering Vol. 31, Issue 22, Pages: 3289-3304(2023)
- 作者机构：
  
  昆明理工大学机电工程学院，云南昆明 650500
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20233122.3289
  CLC： TP242.6
- Received：03 April 2023，
  
  Revised：28 May 2023，
  
  Published：25 November 2023
- 稿件说明：
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高贯斌,谢佩,刘飞等.基于复合标定和极限学习机的关节臂式坐标测量机残差建模及补偿[J].光学精密工程,2023,31(22):3289-3304.

GAO Guanbin,XIE Pei,LIU Fei,et al.Residual modelling and compensation for articulated arm coordinate measuring machines based on compound calibration and extreme learning machine[J].Optics and Precision Engineering,2023,31(22):3289-3304.
高贯斌,谢佩,刘飞等.基于复合标定和极限学习机的关节臂式坐标测量机残差建模及补偿[J].光学精密工程,2023,31(22):3289-3304. DOI： 10.37188/OPE.20233122.3289.

GAO Guanbin,XIE Pei,LIU Fei,et al.Residual modelling and compensation for articulated arm coordinate measuring machines based on compound calibration and extreme learning machine[J].Optics and Precision Engineering,2023,31(22):3289-3304. DOI： 10.37188/OPE.20233122.3289.

摘要

运动学标定是提高关节臂式坐标测量机精度的主要方法，但运动学标定后的残余误差对其测量精度和稳定性仍有很大影响。本文提出一种基于复合标定和极限学习机的关节臂式坐标测量机残差建模及补偿方法，以提高关节臂式坐标测量机的测量精度。首先，在关节臂式坐标测量机运动学建模和误差建模的基础上，建立了运动学参数辨识模型，并依次进行角度参数辨识、长度参数辨识和长度参数等比例缩放的复合辨识，完成了七自由度关节臂式坐标测量机的运动学标定。其次，通过对标定后残余误差图谱的分析，发现残余误差与测量构型有关联，进而构建了以测量摆角、仰角、距离和转角为变量的测量构型。由于测量构型变量与残余误差存在强非线性关系，提出一种基于极限学习机的残余误差预测和补偿方法。通过实验对本文所提模型及方法的有效性进行验证，结果表明：进行残差修正后关节臂式坐标测量机的单点测量误差最大值由0.061 mm下降到0.044 mm，误差均值由0.023 mm下降到0.017 mm，误差标准差由0.011 mm下降到0.007 mm；长度测量误差最大值由0.137 mm下降到0.074 mm，误差均值由0.033 mm下降到0.021 mm、误差标准差由0.037 mm下降到0.019 mm。

Abstract

Kinematic calibration is a common method for enhancing the accuracy of articulated arm coordinate measuring machines （AACMMs）. However， the residual errors after calibration can affect its measurement accuracy and stability. In this study， we propose a residual error compensation method based on a compound calibration and extreme learning machine to improve the measurement accuracy of AACMMs. First， we establish the kinematic parameter identification model based on the kinematic modeling of AACMM. Furthermore， we conduct angle parameter identification， length parameter identification， and length parameter scaling to complete the compound kinematic calibration. Subsequently， we construct the measurement configuration with the measurement angle， elevation angle， distance， and rotation angle as variables to analyze the residual error map. The proposed residual error compensation method is based on an extreme learning machine owing to the strong nonlinear relationship between the measurement configuration variables and the residual errors. We verify the validity of the proposed method through experiments. The results show that the maximum value of the single point measurement error of the AACMM decreases from 0.061 mm to 0.044 mm， the mean value of measurement error decreases from 0.023 mm to 0.017 mm， and the standard deviation of measurement error decreases from 0.011 mm to 0.007 mm after residual correction. Furthermore， the maximum length measurement error decreases from 0.137 mm to 0.074 mm， the mean measurement error decreases from 0.033 mm to 0.021 mm， and the standard deviation of measurement error decreases from 0.037 mm to 0.019 mm.

关键词

Keywords

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