摘要
为提高某姿态测量系统的标定精度,对其标定设备三轴转台的指向误差补偿方法进行研究.分析了影响指向误差的因素;基于多体系统运动学基本原理,阐述了转台系统拓扑结构的低序体阵列,并推导出相邻两体间的低序算子;进而建立关于转台三个回转轴线平均线夹角的指向误差模型;通过仿真研究了各误差项对指向误差的影响规律;最后介绍了误差模型参数的测量方法.误差补偿实验验证了方法的有效性和可行性.
To calibrate a non-contact measurement system more precisely,the orientation error compensation of a three-axis turntable for calibration was investigated in this paper.The factors causing the orientation error were analyzed,then the topological structures and low-order body arrays of multi-body system were illustrated based on the basic principle of multi-body system kinematics.An orientation error model was built by deducing the operator of two adjacent bodies in advance,and the error model was just the function of angles of average lines of three axes.The orientation law about the effect of each factor on the orientation error was addressed by simulation results.The method to measure parameters of the error model was introduced.Results of error compensation experiments verify the validity of the proposed algorithm.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2010年第1期100-105,共6页
Journal of Harbin Institute of Technology
基金
哈尔滨工业大学优秀青年教师培养计划资助项目(HITQNJS2007021)
关键词
标定
误差补偿
三轴转台
指向误差
多体系统运动学
calibration
error compensation
three-axis turntable
orientation error
multi-body system kinematics
