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arXiv 2006.04448cs.ROphysics.class-ph
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热偏转解耦6- DOF六足机器人位姿测量

Thermal deflection decoupled 6-DOF pose measurement of hexapods

LIRMM, University of Montpellier（蒙彼利埃大学里尔电子与计算机实验室）；CNRS（法国国家科学研究中心）；Laboratoire Commun de Métrologie (LNE-CNAM)（法国计量学联合实验室）；Symétrie（Symétrie公司）

Vinayak Jagannathrao Kalas, Alain Vissiere, Olivier Company, Sébastien Krut, Pierre Noiré, Thierry Roux, François Pierrot

发表信息：
Proceedings of the 20th international conference of the European Society for Precision Engineering and Nanotechnology, European Society for Precision Engineering and Nanotechnology (euspen), Jun 2020, Geneva, Switzerland
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摘要：

标定对于具有高精度定位能力的六足机器人至关重要。这些校准程序中的许多需要在恒定温度下测量六足机器人的平台姿态（位置和方向）。因此，在姿态测量期间六足机器人的平台的热偏转影响校准参数的准确性。提出了一种消除热变形对六足机器人位姿测量影响的方法。在该方法中，在任何特定姿态的每次测量之前测量参考姿态。参考位姿的测量值被用来估计六足机器人腿的热变形。这又用于估计和校正在待测量的特定姿态处的所得姿态误差。实验证明了使用所提出的方法的优点，通过使用三坐标测量机的高精度六足机器人的位姿测量。

英文摘要：

Calibration is crucial for hexapods with high-accuracy positioning capability. Many of these calibration procedures require measurement of hexapod's platform pose (position and orientation) at constant temperature. Consequently, thermal deflection of the hexapod's platform during pose measurements impacts the accuracy of calibrated parameters. This paper presents a method to eliminate the impact of thermal deflection of hexapods on their pose measurement. In this method, a reference pose is measured before each measurement of any particular pose. The measurements of reference pose are used to estimate thermal deflection of hexapod's legs. This is in turn used to estimate and correct the resulting pose error at the particular pose to be measured. The advantage of using the proposed method is demonstrated experimentally by means of pose measurements of a high-precision hexapod using a CMM.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

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