Structural Parameter Identification for Articulated Arm Coordinate Measuring Machines

Errors of structural parameters are the most important factors causing uncertainty of articulated arm coordinate measuring machines (AACMMs). Therefore these parameters must be identified to insure the accuracy of AACMMs. The kinematic model of six degree of freedom (6-DOF) AACMMs was established, and the structural parameters influencing the accuracy of AACMMs were achieved through analysis. A method to acquire data for identification with a cone-shape hole was presented. With single-point repeatability as the objective function, a modified simulated annealing algorithm (MSAA) was presented to identify structural parameters. A 6-DOF AACMM was used to carry out experimental tests in order to evaluate the efficiency of the MSAA, showing that after identification the repeatability and length measuring accuracy are improved greatly.

[1]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[2]  J. Denavit,et al.  A kinematic notation for lowerpair mechanism based on matrices , 1955 .

[3]  Hanqi Zhuang,et al.  Autonomous robot calibration using vision technology , 2007 .

[4]  Jorge Santolaria,et al.  A crenellated-target-based calibration method for laser triangulation sensors integration in articulated measurement arms , 2011 .

[5]  Neil Genzlinger.  A. and Q , 2006 .

[6]  Hiroyuki Hamana,et al.  Calibration of Articulated Arm Coordinate Measuring Machine Considering Measuring Posture , 2011, Int. J. Autom. Technol..

[7]  Liandong Yu,et al.  Probe parameters calibration for articulated arm coordinate measuring machine , 2010, International Symposium on Precision Engineering Measurement and Instrumentation.

[8]  Shinichi Sagara,et al.  Cooperative manipulation of a floating object by some space robots: application of a tracking control method using the transpose of the generalized Jacobian matrix , 2007, Artificial Life and Robotics.

[9]  Guanbin Gao,et al.  Analysis and Compensation of Installation Errors for Circular Grating Angle Sensors , 2011 .

[10]  Ian Jenkinson,et al.  Application of genetic programming to the calibration of industrial robots , 2007, Comput. Ind..

[11]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .

[12]  Igor Kovac,et al.  Testing and calibration of coordinate measuring arms , 2001 .

[13]  R. Furutani,et al.  Parameter calibration for non-cartesian CMM , 2004 .

[14]  Bin Wang,et al.  Calibration Technology of the Articulated Arm Flexible CMM , 2008 .

[15]  Jorge Santolaria,et al.  Kinematic parameter estimation technique for calibration and repeatability improvement of articulated arm coordinate measuring machines , 2008 .