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采用坐标变换方式,分析复合运动系统的机械结构和空间位置的变化关系,求解出复合运动系统6自由度位置及速度的算法。依据此算法编制测量软件并通过位置传感器、计算机等硬件,实现复合运动系统任意时刻的运动姿态及相对大地坐标系的运动位置和速度的实时测量。该复合运动系统经中国计量科学院和美国API公司联合检定,其位置测量精度达0.1mm,实际应用效果理想。这种测量手段和算法分析对多坐标加工中心、工业机器人及具有多个运动自由度设备的位置和速度测量均有借鉴作用。
The coordinate transformation method is used to analyze the relationship between the mechanical structure and the spatial position of the compound motion system, and the algorithm for solving the 6 DOF position and velocity of the compound motion system is obtained. Based on this algorithm, the measurement software is programmed and real-time measurement of the motion position and velocity of the composite motion system at any moment and the relative geodetic coordinate system is realized through hardwares such as position sensor and computer. The composite motion system by the Chinese Academy of Metrology and the United States API company jointly certified, the location of the measurement accuracy of 0.1mm, the actual application of satisfactory results. This measurement method and algorithm analysis can be used to reference the position and velocity measurement of multi-coordinate machining centers, industrial robots and devices with multiple degrees of freedom.