概括
本研究介绍了一种新的6DOF运动跟踪系统,用于并行操纵器 (PM). 几何误差识别显著提高了姿势测量准确度,降低了98.7%的位置误差和90.2%的方向误差.
科学领域:
- 机器人与机械工程 机器人与机械工程
- 计量学和测量科学 计量学和测量科学
背景情况:
- 准确的姿势测量对于平行操纵器 (PM) 的性能至关重要.
- 测量系统中的几何错误可以显著降低姿势准确性.
- 现有的方法可能无法准确地在线测量PM.
研究的目的:
- 设计和验证一种新的集成6DOF运动跟踪系统,用于对平行操纵器进行精确的在线姿势测量.
- 开发一种方法来识别和补偿影响姿势测量的几何错误.
- 为了显著提高并行操纵器姿势测量的准确性.
主要方法:
- 一个6-DOF运动跟踪系统,使用六个格子统治器来提供位移信息.
- 向前动力学从位移数据中获得测量姿势.
- 与立体视觉对错误采集的比较.
- 建立基于闭环矢量动力学模型和错误模型.
- 使用最小平方法识别几何错误.
主要成果:
- 在几何校准后,测量精度显著提高.
- 平均位置误差从3.148毫米减少到0.036毫米.
- 平均定位误差从0.225°降低到0.022°.
结论:
- 开发的集成运动跟踪系统有效地测量了并行操纵器的姿势.
- 拟议的几何误差识别方法显著提高了测量精度.
- 该系统展示了高精度和机器人实时应用的潜力.
相关概念视频
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