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基于指数积公式的串联机构运动学参数辨识实验
  • 摘要

    将指数积公式引入基于关节运动轨迹的串联机构运动学参数辨识.利用坐标测量仪测量各关节的运动轨迹,处理测量数据,得到各关节的运动轨迹方程.根据指数积公式对移动副和转动副的定义,直接从关节运动轨迹方程得到实际的关节旋量和实际的关节变量计数当量,从而避免了繁琐的各连杆坐标系的构建过程和坐标变换矩阵的还原过程.该方法已用于数字化脑立体定向仪的运动学参数辨识.实验结果表明,方法有效并可用于一般串联机构运动学标定.

  • 作者

    何锐波  赵英俊  韩奉林  杨曙年  杨叔子  HE Ruibo  ZHAO Yingjun  HAN Fengling  YANG Shunian  YANG Shuzi 

  • 作者单位

    华中科技大学机械科学与工程学院,湖北武汉,430074/中南人学机电工程学院,湖南长沙,410083

  • 刊期

    2011年1期 ISTIC EI PKU

  • 关键词

    运动学参数辨识  指数积公式  关节运动轨迹 

参考文献
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