Kinematic Calibration for Articulated Arm Coordinate Measuring Machines Base on Particle Swarm Optimization

摘要：

Kinematic calibration is one of the most important ways to improve the accuracy of articulated arm coordinate measuring machines (AACMMs).The kinematic model of six degree of freedom (6-DOF) AACMMs was built by Denavit Hartenberg method.One calibration method base on particle swarm optimization(PSO)was presented,which used single point repeatability as the fitness function and kinematic parameters as the position vector.An adaptive inertia weight was presented to improve the ability of global exploration and local exploitation of the PSO.A 6-DOF AACMM was used to carry out experimental tests in order to evaluate the efficiency of the calibration method.The results show that after calibration the accuracy of the AACMM is improved greatly.

关键词： articulated arm coordinate measuring machines kinematic calibration particle swarm optimization adaptive inertia weight repeatability

作者: Guanbin Gao Wen Wang Keng Lin Zichen Chen

作者单位: Institute of Advanced Manufacturing Engineering Zhejiang University Hangzhou, P.R.China

会议类型: 国际会议

会议名称: 2009 Second International Conference on Intelligent Computation Technology and Automation(2009 第二届IEEE智能计算与自动化国际会议 ICICTA 2009)

会议地点: 长沙

会议语种:英文

页码: 189-192

在线出版日期: 2009-10-10（万方平台首次上网日期，不代表论文的发表时间）