摘要
分析了影响并联六自由度平台机构姿态控制误差的因素，认为在位置精度要求较高的场合，减小因机械加工、安装误差对平台姿态控制精度的影响是关键之一。由此引入了通过测量平台的系列变化姿态间接测量计算平台实际结构参数，并在控制软件中进行补偿以减小误差提高姿态精度的方法。针对测量随机误差对测量计算结果的影响，提出了改进措施。
The paper analyses the factors affecting the posture controlling error of a parallel 6 degree of freedom platform.It is shown that reducing the influence on accuracy,which is caused by manufacturing and installation errors in platform’s posture control is of a key step when the platform is applied in higher posture accuracy field.So that,a method to eliminate the errors and improve posture accuracy is introduced.A series of different postures are measured,then the platform's actual mechanism parameters are calculated,and finally,the nominal parameters are replaced by the actual ones in control software.To enhance robust of the measuring and calculating result against measuring random errors,an improving measure is made.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
1999年第6期614-617,共4页
China Mechanical Engineering
基金
国家自然科学基金
关键词
并联
六自由度
误差测量
误差补偿
平台机构
parallel 6 degree of freedom platform error measuring least squares method error compensation
