摘要
为满足飞机壁板自动化制孔对孔垂直度的工艺要求,需实时测量待制孔点的法向量并调整末端执行器姿态。为校正法向计算模型中的光源位置和激光发射方向等关键参数,有效消除由于激光位移传感器安装误差对法向计算的影响,提出了一种实用的激光位移传感器标定算法。利用四个激光位移传感器同时测量已知平面,标定其零点位置和姿态参数。通过标定实验并利用标定结果进行法向测量实验,验证了算法的可行性。将标定算法应用于工程实际,可降低对激光位移传感器的定位精度要求并提高法向测量的准确性。
It is necessary to measure the normal vector of drilling point and adjust the attitude of the end effector in real-time to meet the technological requirements of hole verticality in auto-drilling. A practical calibration algorithm was proposed that the key parameters in the normal vector calculation model such as the positions of the light source and the directions of the laser of were corrected and thus the influence of the laser displacement sensors installation errors on normal vector calculation was eliminated effectively. Through measuring known planes in the meantime using four laser displacement sensors, the zero positions and attitude parameters are calibrated. The feasibility of the algorithm is validated through calibration experiment and the measurement experiment using the calibration result. Not only is the positioning accuracy of the laser displacement sensor reduced but also the accuracy of normal vector measurement is improved applying the calibration algorithm to the engineering practice.
出处
《机械设计与制造》
北大核心
2014年第6期160-163,共4页
Machinery Design & Manufacture
基金
陕西省科技统筹创新工程计划项目(2011KTCQ01-01)
关键词
法向测量
标定
四点调平
自动制孔
Normal Measurement
Calibration
Four-Point Position Regulation
Auto-Drilling
