基于最小PDOP的跟踪仪顺次多站测量站位优化

doi:10.3969/j.issn.1000-1158.2023.02.01

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摘要工业机器人进行大型构件加工时,精确测量机器人与大型构件的相对位置关系是保证加工质量的关键。采用单台激光跟踪仪顺次多站法进行测量时,为了提高测量精度,充分考虑了激光跟踪仪的位置误差,对激光跟踪仪站位优化进行了研究。首先,探讨了激光跟踪仪测量误差主要来源,分析了顺次多站法测量原理;然后,基于最小位置精度衰减因子(PDOP)的方法进行了激光跟踪仪站位的优化,并给出了各站位位置测量精度最优的求解算法。最后,进行了站位优化前后的验证实验,结果表明:优化站位后测量系统的测量精度可提高50%以上,验证了站位优化方法的有效性。

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	马守东
	高栋
	路勇

关键词 ：计量学, 激光跟踪仪, 顺次测量站位优化, 位置精度衰减因子, 相对位置, 测量精度

Abstract：When using industrial robots to process large components, accurately measuring the relative position relationship between the robot and the large components is the key to ensuring the quality of the processing. In order to improve the measurement accuracy, the position error of the laser tracker is fully considered when a single laser tracker is used for measurement in sequence with multiple stations, and the position optimization study of the laser tracker is carried out. First, the main sources of measurement errors of the laser tracker are discussed, and the principle of sequential multi-station measurement is analyzed. Then, based on the method of minimum position precision attenuation factor (PDOP), the laser tracker station is optimized, and the algorithm for solving the optimal measurement accuracy of each station position is given. Finally, the verification experiment before and after the station optimization are carried out. The results show that the measurement accuracy of the measurement system can be improved by more than 50% after the station optimization, which verifies the effectiveness of the station optimization method.

Key words： metrology laser tracker sequential measurement station optimization position dilution of precision relative position measurement accuracy

收稿日期: 2021-10-26 发布日期: 2023-02-21

PACS:

TB92

基金资助:国家重点研发计划(2018YFB1306803)

通讯作者: 路勇(1971-),男,吉林长春人,哈尔滨工业大学教授,博士生导师,工学博士,研究方向为智能刀柄、加工过程监控、机器人加工。Email: luyong@hit.edu.cn E-mail: luyong@hit.edu.cn

作者简介: 马守东(1990-),男,江苏连云港人,哈尔滨工业大学博士研究生,研究方向为大尺寸测量及机器人加工。Email: neusdma@163.com

引用本文:

马守东,高栋,路勇. 基于最小PDOP的跟踪仪顺次多站测量站位优化[J]. 计量学报, 2023, 44(2): 157-164.
MA Shou-dong,GAO Dong,LU Yong. Optimization the Position of the Laser Tracker Based on the Minimum PDOP. Acta Metrologica Sinica, 2023, 44(2): 157-164.

链接本文:

http://jlxb.china-csm.org:81/Jwk_jlxb/CN/10.3969/j.issn.1000-1158.2023.02.01 或 http://jlxb.china-csm.org:81/Jwk_jlxb/CN/Y2023/V44/I2/157

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