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为了提高飞行模拟器运动系统的控制精度,针对电动Stewart六自由度运动平台,利用测量相对位姿的方法进行运动学误差分析和标定。根据Stewart平台结构特点,提出回转误差及回转补偿算法。由并联机构运动学方程和矢量闭环特性,建立Stewart平台运动学误差模型及优化标定算法。采用基于容错编码技术的标记块设计方案提高测量系统的稳定性,利用Basler工业级摄像机实现对上平台位姿跟踪与测量,获取上平台相对位姿,根据标定模型及优化算法辨识系统结构误差参数并补偿。最终测量数据与实验结果验证了标定算法的有效性,提高了Stewart平台控制精度。
In order to improve the control precision of the flight simulator kinematics system, the kinematic error analysis and calibration are performed by using the method of measuring the relative pose for the Stewart six-DOF motion platform. According to the structural characteristics of Stewart platform, the rotation error and rotation compensation algorithm are proposed. The kinematics error model and the optimal calibration algorithm of the Stewart platform are established by the kinematic equations of the parallel mechanism and the vector closed-loop characteristics. The stability of the measurement system is improved by using the mark block design scheme based on fault-tolerant coding technology. The position and attitude tracking and measurement of the upper platform are realized by using Basler industrial camera. The relative pose of the upper platform is acquired. The system structure error parameters are identified according to the calibration model and the optimization algorithm And compensation. The final measurement data and experimental results verify the effectiveness of the calibration algorithm and improve the control accuracy of the Stewart platform.