CN1346964A - Method and device for measuring position and attitude in space - Google Patents
Method and device for measuring position and attitude in space Download PDFInfo
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- CN1346964A CN1346964A CN 01136635 CN01136635A CN1346964A CN 1346964 A CN1346964 A CN 1346964A CN 01136635 CN01136635 CN 01136635 CN 01136635 A CN01136635 A CN 01136635A CN 1346964 A CN1346964 A CN 1346964A
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Abstract
A method for measuring the space position and attitude of a target is characterized by use of said present invented large-size ball-rod instrument to measure distances, and includes such steps as measuring the distances from three fixed points on the rigid body moving in space to the three fixed point in a fixed coordinate system to obtian 9 central distances, reading them from the display of said ball-rod instrument or computer, listing 9 non-linear equations, and analyzing them to obtain the space position and attitude of said rigid body. Its advantages are simple method, low cost and high precision.
Description
Affiliated field
The present invention relates to a kind of measuring method and device thereof, exactly, relate to a kind of measuring method and device thereof that is used for full position, space and attitude, belong to the field of measuring technique of locus and angle based on optical gauge.
Background technology
For a rigid body, it is described at the location in space available position (position) and attitude (orientation).Wherein the position normally adopts Cartesian coordinates to represent, i.e. x, y, z three-dimensional coordinate; And attitude normally adopts three Eulerian angle φ, θ, ψ to represent, i.e. angle of precession φ, angle of nutation θ and the angle of rotation ψ that says usually.For the measuring method and the equipment of above-mentioned 6 spatial parameters, mainly adopt devices such as three coordinate measuring machine, transit, two-frequency laser interferometer and laser tracker to carry out at present.But above-mentioned measuring equipment or method all exist such or such defective: or price is higher, or can only be applicable to position measurement, and to the measurement of three Eulerian angle poor effect often.And in actual applications, for example in the position control of the cut of parallel machine and robot, how to realize simply, easily that the accurate measurement to three Eulerian angle is the important topic that mechanical industry technology personnel pay close attention to always.In addition, traditional ball bar measurement range generally has only several millimeters range, usually just is applied to can't realize the linear measure longimetry task of tens of millimeters even greater amount journey in the measurement of dynamic calibration of traditional machine tool.
Summary of the invention
The purpose of this invention is to provide a kind of measuring method that is used for full position, space and attitude that can solve above-mentioned problem, this measuring method is different with in the past measuring method, not directly to go to measure above-mentioned 6 parameters, but by the distance (length) of three point of fixity on the indirect measurement space motion rigid body, then by calculating position and the attitude of determining this spatial movement rigid body with respect to three fixed points in certain fixed coordinate system.This measuring method operation steps is simple, need not expensive instrument, and is economical and practical; The more important thing is that this method can obtain the measured value of three higher Eulerian angle of precision; This measuring method is demarcated for the kinematics of parallel machine/robot has important use value.
Another object of the present invention provides a kind of measurement mechanism that is used for the measuring method of full position, above-mentioned space and attitude, so that can carry out the linear measure longimetry of tens of millimeters or greater amount journey, above-mentioned measuring method is implemented.
The measuring method that is used for full position, space and attitude of the present invention is achieved in that and includes the following step: (1) is at first with a relatively-stationary object, object of reference when promptly measuring is set at fixed coordinate system, and, set three ball seat positions in the promptly relatively-stationary object at this fixed coordinate system;
(2) then with an object to be measured, the object that promptly has relative motion is set at moving coordinate system, and at this moving coordinate system, also sets three ball seat positions in the object promptly to be measured;
(3) length scale of 9 centre distance that form each other according to the center of the center of three ball seats in the said fixing coordinate system and three ball seats in the moving coordinate system, select the suitable special measurement device-ball bar of length for use, and the datum length of this ball bar is transferred survey with standard unit, to determine measuring basis;
(4) when object above-mentioned to be measured (moving coordinate system) moves to a certain position that need to measure or attitude, measure the length numerical value of totally 9 centre distance of 3 * 3 between the center of center that in the said fixing coordinate system (being relatively-stationary object) three set ball seats and three setting ball seats in the moving coordinate system (object promptly to be measured) respectively with described special measurement device-ball bar;
(5) digital display meter from the ball bar or the computing machine that is connected with this ball bar are read the length numerical value of above-mentioned 9 centre distance, and list 9 Nonlinear System of Equations according to these 9 length parameters, adopt the auspiciousness method of Zhan Chong to resolve this 9 Nonlinear System of Equations again, can try to achieve the locus attitude of object above-mentioned to be measured (moving coordinate system).
The center of above-mentioned three ball seats setting respectively in fixed coordinate system and moving coordinate system can be the summit separately of the isosceles right triangle of two groups of different lengths; And make these two groups of right-angle triangles be in the position of butt joint as far as possible, so that reduce amount of calculation, and avoid occurring redundant nonlinear equation.
The sphere diameter of the interior concave spherical surface in the above-mentioned ball seat position is 3/4 inch, and sphericity should≤0.5 μ m for it.
The measurement mechanism that is used for full position, space and attitude of the present invention is achieved in that and includes: the grating chi that is made of sheet spring, extension spring, damper, zero reference level and the shell in the grating and the outside thereof, it is characterized in that: these grating chi two ends are connected with a stationary shaft and a movable axis respectively by precision-fit, the axis of this stationary shaft and movable axis should strict the coincidence and on same axis, wherein an end face of movable axis is processed to the indent spherical cambered surface identical with the spherical radius of standard ball, is bonded with standard ball by bonding agent again; And the other end of stationary shaft is embedded in the groove of a cylinder-shaped joint, and makes it fastening location by the lock screw on this joint side, and the other end of this cylinder-shaped joint is by the extension rod that has been threaded.
The sphere diameter of the indent spherical cambered surface of above-mentioned movable axis one end face is 3/4 inch, its not sphericity should be not more than 0.5 μ m.
The malalignment of the axis of said fixing axle and movable axis should be less than 10 microns.
The indent spherical cambered surface of above-mentioned movable axis one end face and the bonding employed bonding agent of standard ball are AB glue.
Measuring method of the present invention also has following advantage except These characteristics: this method realizes the total digitalization measurement easily, has measurement accuracy height, easy to use, is subjected to advantages such as such environmental effects is little; Compare with other measuring methods simultaneously, the measurement mechanism price of required configuration is lower, has the very high use value and the ratio of performance to price.Measuring method of the present invention is mainly used in the demarcation of parallel machine kinematic accuracy, can realize the measurement to certain precision of the position of parallel machine motion platform and attitude; Also can realize based on the various novel lathe tool plane positions of plane parallel mechanism model and the accurate measurement of attitude, and then they be carried out kinematics demarcate; Also can be used for the locus and the attitude of parallel manipulator are measured, and then realize its kinematic accuracy demarcation.Further in addition perfect during if this method can and be used in from now on research, be expected to become the main means of parallel machine precision calibration, therefore, method of the present invention has very high commercial value and good market outlook.
Moreover, the present invention also provides the technical guarantee means for the enforcement of this measuring method, special measurement device-the ball bar that adopts the grating measuring length principle promptly is provided, the range that can only measure several millimeters ball bar is usually expanded greatly, can carry out the measurement of tens millimeters and even tens of mm lengths, its maximum range of measuring can reach 50 millimeters, adds a series of extension rod, this device can carry out the linear measure longimetry of big length range in theory, and can realize higher measuring accuracy.
Description of drawings
Fig. 1 is the measuring principle synoptic diagram of measuring method of the present invention.
Fig. 2 is a measuring method synoptic diagram of the present invention.
Fig. 3 is the structural representation of measurement mechanism of the present invention.
Embodiment
Please be simultaneously referring to Fig. 1 and Fig. 2, introduce operation steps and principle of work thereof that the present invention is used for the measuring method of full position, space and attitude: at first on spatial movement rigid body 20, set up a moving coordinate system oxyz, afterwards on a relatively-stationary object 30, set up a fixed coordinate system OXYZ on the object of reference when promptly measuring, spatial movement rigid body 20 then represents that with the coordinate of initial point o in this fixed coordinate system OXYZ of this moving coordinate system oxyz the attitude of this motion rigid body is then represented with respect to three Eulerian angle of fixed coordinate system OXYZ with this moving coordinate system oxyz with respect to the position of fixed object 30.Then, go up three ball seats 21 of setting at motion rigid body 20 (being moving coordinate system oxyz), it is respectively A
01, A
02, A
03(one of them ball seat has only drawn in Fig. 2), and these three ball seat A
01, A
02, A
03The center with respect to enough degree of accuracy that is positioned with of this moving coordinate system oxyz, on relatively-stationary object 30 (being fixed coordinate system), also be set with three ball seats 31 simultaneously, it is respectively B
01, B
02, B
03(one of them ball seat has also only drawn in Fig. 2), and these three ball seat B
01, B
02, B
03The center also be quite accurate with respect to the location of fixed coordinate system; Afterwards according to three ball seat B among the said fixing coordinate system OXYZ
01, B
02, B
03The center and three ball seat A among the moving coordinate system oxyz
01, A
02, A
03The length scale of 9 centre distance forming each other of center, select the suitable special measurement device-ball bar of the present invention 40 of length for use, and the datum length of this ball bar transferred survey, to determine measuring basis with standard unit; Measure three ball seat A on the above-mentioned motion rigid body (moving coordinate system) respectively by special measurement device-ball bar 40 of the present invention then
01, A
02, A
03Three the ball seat Bs of center to the stationary fixing rigid body
01, B
02, B
03Length distance between the center obtains 9 length numerical value (Fig. 2 has showed the signal of this measuring method) altogether.List 9 Nonlinear System of Equations according to these 9 length parameters again, adopt the auspiciousness method of Zhan Chong to resolve this 9 Nonlinear System of Equations at last, can try to achieve the locus attitude of object above-mentioned to be measured (moving coordinate system).
Need to prove, the center of three ball seats setting respectively in fixed coordinate system and moving coordinate system can be the summit separately of the isosceles right triangle of two groups of different lengths, should make these two groups of right-angle triangles be in the position of butt joint simultaneously as far as possible, so that the minimizing amount of calculation, and avoid occurring redundant nonlinear equation.
In addition, the position and the attitude of spatial movement rigid body are measured, in theory as long as 6 numerical value in above-mentioned 9 length of measurement.Why the present invention adopts redundant measurement, fundamental purpose is can be by checking the compatibility between these 9 parameters, the measured value that some deviations are bigger is rejected, improving whole measuring accuracy, and can estimate the error precision grade of this time measurement by the measurement data of redundancy.
Referring to the measurement mechanism-ball bar that is used for full position, space and attitude of the present invention shown in Figure 3, it is the grating chi that is made of the sheet spring 2 in grating 1 and its outside, extension spring 3, damper 4, zero reference level 5 and shell 8, and movable axis 6, stationary shaft 7, standard ball 9, cylinder-shaped joint 10 and extension rod 12 are formed.These grating chi two ends are connected with a stationary shaft 7 and a movable axis 6 respectively by precision-fit, and both axis of this stationary shaft 7 and movable axis 6 should strict the coincidence and on same axis, its malalignment should be less than 10 microns, to guarantee measurement accuracy.Wherein an end face of the movable axis 6 of this grating chi is processed to the indent spherical cambered surface identical with the spherical radius of standard ball 9, is bonded with standard ball 9 with bonding agent again, and bonding agent used herein is an AB glue.The other end of stationary shaft 7 then is embedded in the groove of a cylinder-shaped joint 10, and makes it fastening location by the lock screw 11 on this joint side, and the other end of this cylinder-shaped joint is by the extension rod 12 that has been threaded.The sphere diameter of the recessed spherical cambered surface of one end face of movable axis 6 is 3/4 inch, its not sphericity should be not more than 0.5 μ m.
Measurement mechanism of the present invention utilizes the grating chi to convert, wherein most critical be to guarantee movable axis 6 in standard ball 9 and the grating chi to be connected the location accurate as much as possible, guarantee that simultaneously bigger distortion can not take place this standard ball.For this reason in the process of making this ball bar, one facing cut of the movable axis 6 of grating chi must be cut into the indent spherical cambered surface identical with the spherical radius of standard ball 9, and face it with standard ball and carry out scraping, to improve its not precision of sphericity, with AB glue standard ball is bonded on this indent spherical cambered surface then.Adopt the physical strength of the constitutional detail that this AB glue connects very high, even this part is carried out cut on lathe standard ball is come off, bigger distortion can not take place in the sphere that so just can guarantee standard ball, thereby has guaranteed the overall precision of ball bar.Standard ball used in the present invention is 3/4ths inches a standard ball, and its not sphericity should be not more than 0.5 micron, and the precision of the maximum full scale (50mm) of this ball bar will be controlled in 2 microns.
The test that measurement mechanism of the present invention and measuring method have been used to a certain parallel machine is measured and demarcated is implemented, the result of test is quite desirable effect: make the precision of this lathe be greatly improved, even this lathe reaches and satisfy the standard-required of the provisions of the relevant regulations issued by the State, realize commercialization from now on for it and lay a good foundation.
Claims (7)
1, a kind of measuring method that is used for full position, space and attitude, it is characterized in that: include the following step: (1) is at first with a relatively-stationary object, object of reference when promptly measuring is set at fixed coordinate system, and, set three ball seat positions in the promptly relatively-stationary object at this fixed coordinate system;
(2) then with an object to be measured, the object that promptly has relative motion is set at moving coordinate system, and at this moving coordinate system, also sets three ball seat positions in the object promptly to be measured;
(3) length scale of 9 centre distance that form each other according to the center of the center of three ball seats in the said fixing coordinate system and three ball seats in the moving coordinate system, select the suitable special measurement device-ball bar of length for use, and the datum length of this ball bar is transferred survey with standard unit, to determine measuring basis;
(4), measure the length numerical value of totally 9 centre distance of 3 * 3 between the center of center that in the said fixing coordinate system (being relatively-stationary object) three set ball seats and three setting ball seats in the moving coordinate system (object promptly to be measured) respectively with described special measurement device-ball bar when object of which movement above-mentioned to be measured during to a certain position that need to measure or attitude;
(5) digital display meter from the ball bar or the computing machine that is connected with this ball bar are read the length numerical value of above-mentioned 9 centre distance, and list 9 Nonlinear System of Equations according to these 9 length parameters, adopt the auspiciousness method of Zhan Chong to resolve this 9 Nonlinear System of Equations again, can try to achieve the locus attitude of object above-mentioned to be measured (moving coordinate system).
2, the measuring method that is used for full position, space and attitude according to claim 1 is characterized in that: the center of above-mentioned three ball seats setting respectively in fixed coordinate system and moving coordinate system can be the summit separately of the isosceles right triangle of two groups of different lengths; And make these two groups of right-angle triangles be in the position of butt joint as far as possible.
3, the measuring method that is used for full position, space and attitude according to claim 1, it is characterized in that: the sphere diameter of the interior concave spherical surface in the above-mentioned ball seat position is 3/4 inch, sphericity should≤0.5 μ m for it.
4, a kind of measurement mechanism that is used for full position, space and attitude, include: the grating chi that constitutes by sheet spring, extension spring, damper, zero reference level and the shell in the grating and the outside thereof, it is characterized in that: these grating chi two ends are connected with a stationary shaft and a movable axis respectively by precision-fit, the axis of this stationary shaft and movable axis should strict the coincidence and on same axis, wherein an end face of movable axis is processed to the indent spherical cambered surface identical with the spherical radius of standard ball, is bonded with standard ball by bonding agent again; And the other end of stationary shaft is embedded in the groove of a cylinder-shaped joint, and makes it fastening location by the lock screw on this joint side, and the other end of this cylinder-shaped joint is by the extension rod that has been threaded.
5, the measurement mechanism that is used for full position, space and attitude according to claim 4, it is characterized in that: the sphere diameter of the indent spherical cambered surface of above-mentioned movable axis one end face is 3/4 inch, its not sphericity should be not more than 0.5 μ m.
6, the measurement mechanism that is used for full position, space and attitude according to claim 4, it is characterized in that: the malalignment of the axis of said fixing axle and movable axis should be less than 10 microns.
7, the measurement mechanism that is used for full position, space and attitude according to claim 4 is characterized in that: the indent spherical cambered surface of an end face of the movable axis of above-mentioned grating chi and the bonding employed bonding agent of standard ball are AB glue.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011366354A CN1147705C (en) | 2001-10-23 | 2001-10-23 | Method and device for measuring position and attitude in space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011366354A CN1147705C (en) | 2001-10-23 | 2001-10-23 | Method and device for measuring position and attitude in space |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1346964A true CN1346964A (en) | 2002-05-01 |
| CN1147705C CN1147705C (en) | 2004-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB011366354A Expired - Fee Related CN1147705C (en) | 2001-10-23 | 2001-10-23 | Method and device for measuring position and attitude in space |
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| CN (1) | CN1147705C (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101995231A (en) * | 2010-09-20 | 2011-03-30 | 深圳大学 | Three-dimensional detection system for surface of large thin-shell object and detection method thereof |
| CN102278963A (en) * | 2011-06-30 | 2011-12-14 | 燕山大学 | Self-calibration method of parallel robot |
| CN102508821A (en) * | 2011-09-20 | 2012-06-20 | 西安费斯达自动化工程有限公司 | State output method for space motion of rigid body |
| CN102589525A (en) * | 2010-11-19 | 2012-07-18 | 三菱电机株式会社 | Method and system for determining poses of specular objects |
| CN104634293A (en) * | 2015-01-29 | 2015-05-20 | 淮阴工学院 | Computing method for calibrating hinge coordinates of parallel machine tool |
| CN104708495A (en) * | 2015-02-05 | 2015-06-17 | 杭州电子科技大学 | Space double-connecting-rod type ball bar based on ball hinge |
| CN105444722A (en) * | 2015-12-21 | 2016-03-30 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting changes of postures of platform |
| CN106064379A (en) * | 2016-07-21 | 2016-11-02 | 深圳众为兴技术股份有限公司 | A kind of robot calculates the method for actual brachium automatically |
| CN110815206A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Stewart type parallel robot kinematics calibration method |
| CN113211186A (en) * | 2021-05-26 | 2021-08-06 | 上海理工大学 | Rotating shaft corner positioning error detection method of five-axis numerical control machine tool rotary table |
-
2001
- 2001-10-23 CN CNB011366354A patent/CN1147705C/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101995231A (en) * | 2010-09-20 | 2011-03-30 | 深圳大学 | Three-dimensional detection system for surface of large thin-shell object and detection method thereof |
| CN102589525A (en) * | 2010-11-19 | 2012-07-18 | 三菱电机株式会社 | Method and system for determining poses of specular objects |
| CN102278963A (en) * | 2011-06-30 | 2011-12-14 | 燕山大学 | Self-calibration method of parallel robot |
| CN102508821A (en) * | 2011-09-20 | 2012-06-20 | 西安费斯达自动化工程有限公司 | State output method for space motion of rigid body |
| CN102508821B (en) * | 2011-09-20 | 2014-09-17 | 西安费斯达自动化工程有限公司 | State output method for space motion of rigid body |
| CN104634293A (en) * | 2015-01-29 | 2015-05-20 | 淮阴工学院 | Computing method for calibrating hinge coordinates of parallel machine tool |
| CN104708495A (en) * | 2015-02-05 | 2015-06-17 | 杭州电子科技大学 | Space double-connecting-rod type ball bar based on ball hinge |
| CN104708495B (en) * | 2015-02-05 | 2017-03-15 | 杭州电子科技大学 | A kind of two link-type ball bar of space based on spherical hinge |
| CN105444722A (en) * | 2015-12-21 | 2016-03-30 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting changes of postures of platform |
| CN105444722B (en) * | 2015-12-21 | 2018-05-01 | 中国科学院长春光学精密机械与物理研究所 | The method of detection platform attitudes vibration |
| CN106064379A (en) * | 2016-07-21 | 2016-11-02 | 深圳众为兴技术股份有限公司 | A kind of robot calculates the method for actual brachium automatically |
| CN106064379B (en) * | 2016-07-21 | 2019-04-12 | 深圳众为兴技术股份有限公司 | A kind of method that robot calculates practical brachium automatically |
| CN110815206A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Stewart type parallel robot kinematics calibration method |
| CN113211186A (en) * | 2021-05-26 | 2021-08-06 | 上海理工大学 | Rotating shaft corner positioning error detection method of five-axis numerical control machine tool rotary table |
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| Publication number | Publication date |
|---|---|
| CN1147705C (en) | 2004-04-28 |
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