基于无量纲化辨识雅可比矩阵选取测量位姿的Stewart并联机构运动学标定

强红宾; 薛大鹏; 冯新宇

doi:10.37188/OPE.20202807.1546

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基于无量纲化辨识雅可比矩阵选取测量位姿的Stewart并联机构运动学标定

微纳技术与精密机械 | 更新时间：2020-08-13

- 基于无量纲化辨识雅可比矩阵选取测量位姿的Stewart并联机构运动学标定
- Stewart parallel manipulator kinematic calibration based on the normalized identification Jacobian choosing measurement configurations
- 光学精密工程 2020年28卷第7期页码：1546-1557
- 作者机构：
  
  1.燕山大学河北省重型机械流体动力传输与控制重点实验室, 河北秦皇岛 066004
  2.燕山大学先进锻压成形技术与科学教育部重点实验室, 河北秦皇岛 066004
- 作者简介：
  
  [ "强红宾(1991-), 男, 河北石家庄人, 博士研究生, 2014年于燕山大学获得学士学位, 主要从事并联机构优化及协同控制系统的研究。E-mail:605082605@qq.com" ]
- 基金信息：
  
  国家自然科学基金资助项目(51875499)
- DOI：10.37188/OPE.20202807.1546
  中图分类号： TP242
- 收稿日期：2020-01-15，
  
  修回日期：2020-03-20，
  
  录用日期：2020-3-20，
  
  纸质出版日期：2020-07-15
- 稿件说明：
移动端阅览
强红宾, 薛大鹏, 冯新宇. 基于无量纲化辨识雅可比矩阵选取测量位姿的Stewart并联机构运动学标定[J]. 光学精密工程, 2020,28(7):1546-1557.

Hong-bin QIANG, Da-peng XUE, Xin-yu FENG. Stewart parallel manipulator kinematic calibration based on the normalized identification Jacobian choosing measurement configurations[J]. Optics and precision engineering, 2020, 28(7): 1546-1557.
强红宾, 薛大鹏, 冯新宇. 基于无量纲化辨识雅可比矩阵选取测量位姿的Stewart并联机构运动学标定[J]. 光学精密工程, 2020,28(7):1546-1557. DOI： 10.37188/OPE.20202807.1546.

Hong-bin QIANG, Da-peng XUE, Xin-yu FENG. Stewart parallel manipulator kinematic calibration based on the normalized identification Jacobian choosing measurement configurations[J]. Optics and precision engineering, 2020, 28(7): 1546-1557. DOI： 10.37188/OPE.20202807.1546.

摘要

运动学标定是提高并联机构精度的重要途径。采用与辨识雅可比矩阵相关的可观测性指标最大化的方法选择测量位姿，可以提高并联机构运动学标定对传感器测量噪声的鲁棒性。辨识雅可比矩阵是并联机构位移和姿态的函数，但位移和姿态对应的辨识雅可比矩阵中的元素的数量级不同，导致所选测量位姿的位移和姿态对测量噪音的鲁棒性不同。因此，本文提出先对辨识雅可比矩阵进行无量纲化，再通过可观测性指标选择测量位姿，保证位移和姿态对测量噪音具有相同的鲁棒性，进而提高标定精度。通过数值算例，3种测量噪音下该方法标定的结构参数精度相对于传统方法均有大幅提高，分别由1.007 5，0.100 9，0.010 1 mm提高到0.033 7，0.033 7，0.003 4 mm；该方法标定的位置精度相对于传统方法基本不变，但姿态精度有大幅提高，分别由0.015 2°，0.003 3°，0.000 15°提高到0.003 3°，0.000 3°，0.000 033°。以该方法选取的测量位姿对Stewart并联机构进行标定试验，标定前后位置和姿态的误差均值分别从2.321 mm和0.246°降至0.242 mm和0.025°，有效地提高了位姿精度。

Abstract

Kinematics calibration is an important way to improve the accuracy of Parallel Manipulators (PMs). The robustness of kinematics calibration to measurement sensor noise can be improved by choosing measurement poses based on maximizing the observability index related to the identification Jacobian. The identification Jacobian matrix is a function of position and orientation of the PM

but the magnitudes of identification Jacobian matrix elements corresponding to position and orientation are different. This leads to a difference in the robustness of position and orientation to measurement sensor noise. Therefore

the identification Jacobian matrix was first normalized and the measurement poses were then selected through the observability index related to the normalized identification Jacobian to ensure the same robustness of position and orientation to measurement sensor noise. Through numerical examples

the precision of the structural parameters calibrated by using this method under three kinds of measurement noise is greatly improved compared with that of the traditional method

increasing from 1.007 5 mm to 0.336 7 mm

0.100 9 mm to 0.033 7 mm

and 0.010 1 nn to 0.003 4 mm

respectively. Compared with the traditional method

the calibration precision of position using this method basically remained unchanged

but the attitude accuracy was sharply higher

increasing from 0.015 2° to 0.003 3°

0.003 3° to 0.000 3°

and 1.5×10

-4

° to 3.3×10

-5

respectively. The measured pose selected in this method was used to calibrate the Stewart parallel mechanism

and the mean error values of the position and attitude before and after calibration were reduced from 2.321 mm to 0.242 mm and from 0.246° to 0.025°

respectively

effectively improving the pose accuracy.

关键词

Keywords

references

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