Implementation of parameter calibration for flexible coordinate measurement machine based on improving genetic algorithm

ZHAO Lei; LIU Shu-gui

doi:10.3788/OPE.20111911.2753

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Implementation of parameter calibration for flexible coordinate measurement machine based on improving genetic algorithm

Article | 更新时间：2020-08-12

- Implementation of parameter calibration for flexible coordinate measurement machine based on improving genetic algorithm
- Optics and Precision Engineering Vol. 19, Issue 11, Pages: 2753-2758(2011)
- 作者机构：
  
  天津大学精密测试技术及仪器国家重点实验室天津,300072
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20111911.2753
  CLC： TH721
- Received：09 May 2011，
  
  Revised：22 June 2011，
  
  Published Online：25 November 2011，
  
  Published：25 November 2011
- 稿件说明：
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赵磊, 刘书桂. 基于改进遗传算法实现柔性三坐标测量机参数标定[J]. 光学精密工程, 2011,19(11): 2753-2758

ZHAO Lei, LIU Shu-gui. Implementation of parameter calibration for flexible coordinate measurement machine based on improving genetic algorithm[J]. Editorial Office of Optics and Precision Engineering, 2011,19(11): 2753-2758
赵磊, 刘书桂. 基于改进遗传算法实现柔性三坐标测量机参数标定[J]. 光学精密工程, 2011,19(11): 2753-2758 DOI： 10.3788/OPE.20111911.2753.

ZHAO Lei, LIU Shu-gui. Implementation of parameter calibration for flexible coordinate measurement machine based on improving genetic algorithm[J]. Editorial Office of Optics and Precision Engineering, 2011,19(11): 2753-2758 DOI： 10.3788/OPE.20111911.2753.

摘要

针对柔性三坐标测量机测量精度低的弊端

提出了误差修正和参数标定的方法。应用Denavit-Hartenberg(DH)法建立了柔性三坐标测量系统的运动学模型和误差模型

考虑系统结构参数标定问题

提出了一种基于优化最小二乘法的改进遗传算法。首先

在最小二乘法中引入变化因子来衡量收敛速度;其次

当该因子趋于稳定时

将产生的次优解作为遗传算法的初始群体

并对一般遗传算法进行改进;最后

根据改进的遗传算法进行搜索、计算

得到满足要求的最优解

完成系统结构参数的标定。实验表明:该方法具有收敛速度快、鲁棒性好等优点。

Abstract

According to the low measuring accuracy from a flexible coordinate measurement machine

the error correction and parameter calibration methods for the coording measarement machine were researched. An improving genetic algorithm based on optimization least square method was proposed to implement the parameter calibration. The kinematic model and the error model of the flexible coordinate measurement machine were established by Denavit-Hartenberg(DH) method. Firstly

a variable factor was used in least square method to evaluate the convergence speed. Then

the suboptimal parameter was regarded as the initial population of optimized genetic algorithm while the variable factor became steady. Finally

the improving genetic algorithm was used to search and calculate to obtain the optimal parameter and the parameter calibration was finished. The experiment shows that the proposed algorithm has fast convergence speeds and good robustness.

关键词

Keywords

references

张国雄. 三坐标测量机[M]. 天津:天津大学出版社,1999. Zhang G X. Coordinate Measuring Machin [M]. Tianjin: Tianjin University Press, 1999. (in Chinese)[2] JORGE S. A crenellated-target-based calibration method for laser triangulation sensors integration in articulated measurement arms[J]. Robotics and Computer-Integrated Manufacturing, 2011,27(2): 282-91.[3] 李坤,李军华,杨小芹. 遗传参数协同进化的自适应遗传算法[J]. 计算机仿真,2010(11):204-208. LI K,LI J H,YANG X Q. An adaptive aenetic algorithm based on parameters cooperated with evolution[J]. Computer Simulation,2010(11):204-208. (in Chinese)[4] 黄奎,莫健华,余立华,等. 柔性测量臂运动学建模及参数标定方法[J]. 西安交通大学学报,2010,44(8):122-126. HUANG K, MO J H, YU L H et al.. Kinematic model and parameter calibration for flexible articulated coordinate measuring arm[J]. Journal of Xi＇an Jiaotong University,2010,44(8):122-126. (in Chinese).[5] 李海燕,厉胜超,胡云安. 基于最优保存和进化调整遗传算法的光测布站优化[J]. 探测与控制学报,2010,32(5):25-29. LI H Y, LI SH CH, HU Y A.Stations optimized distribution of optoelectronic theologies based on genetic algorithm with optimal preservation and evolution process adjusting[J].Journal of Detection &Control,2010, 32(5):25-29. (in Chinese)[6] JORGE S, JUAN-JOS A, JOS A Y, et al.. Kinematic parameter estimation technique for calibration and repeatability improvement of articulated arm coordinate measuring machines[J].Precision Engineering, 2008,32(4):251-68.[7] MAHMOUD T,MIKYUNG K. Inverse kinematics of 7-DOF robots and limbs by decomposition and approximation [J].IEEE Transactions on Robotics 2007,23(3): 595-600.[8] WANG X Y, LIU SH G, ZHANG G X. Calibration technology of the articulated arm flexible CMM[J]. Key Engineering Materials, 2008,381/382:161-164.[9] WEI L,WANG C J. Coordinate transformation and parametric calibration of multi-joint articulated coordinate measuring machine[J].Opto-electronic Engineering, 2007,34(5): 57-61.[10] LIGHTCAP C,HAMNER S,SCHMITZ T, et al.. Improved positioning accuracy of the PA10-6CE robot with geometric and flexibility calibration[J].IEEE Transactions on Robotics, 2008,24(2): 452-456.[11] 蔡自兴.机器人学[M]. 北京:清华大学出版社 ,2000. CAI Z X. Robotics[M].Beijing: Tsinghua University Press,2000.(in Chinese)

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