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.建立了多关节机械臂式三维坐标测量机构的坐标模型,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的标定方法之后提出了一种基于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.
This paper deals with a coordinate model and calibration of multi-joint type CMM. A generalized model of pair unit has been proposed,through which the coordinate model of a multi-joint type 3D scanner （MJT3DS） system is easily deduced from. Consequently a new approach for calibration of parameters in the model is presented in the paper. Based on real-valued genetic algorithm, this calibration algorithm has more advantages over than that of linear algorithm by applying least square and iterative algorithm. The feasibility and robustness of this algorithm have been proved through computer simulation.
出处
《武汉理工大学学报（交通科学与工程版）》
2005年第4期506-509,共4页
Journal of Wuhan University of Technology（Transportation Science & Engineering）
基金
国家863计划项目(批准号:863-306-04-06-3-98)
国家自然科学基金项目资助(批准号:69775022)
关键词
坐标测量
多关节
标定
遗传算法
coordinate measurement
multi-joint type
calibration
genetic algorithm
