A fast calibration method for the theodolite coordinate system at the end of the robot

Abstract

The invention discloses a robot end theodolite coordinate system rapidly calibrating method of a spacecraft equipment position and pose measurement system. The method comprises site-laying out more than four common target points, measuring the common target points Pi separately through a tracker and a theodolite to acquire the three-dimensional coordinates of the target points in a laser tracker coordinate system and the azimuth angles of the target points in a theodolite coordinate system; according to the three-dimensional coordinates, the distances and the azimuth angles of the common target points, determining the relative azimuth relationship between the theodolite coordinate system and the laser tracker coordinate system. The robot end theodolite coordinate system rapidly calibratingmethod is free from a traditional robot end theodolite coordinate system calibrating method in which two theodolites are applied to simultaneously measure multiple points, thereby greatly enhancing the efficiency and convenience of a robot end theodolite site calibrating process, and meanwhile, by giving full play to the advantages of high precision of angle measurement of the theodolite and point measurement of the tracker, effectively improves robot end theodolite calibrating precision, and achieves a pose calibrating accuracy better than 5 degrees and a position calibrating accuracy betterthan 0.05 mm.

Description

technical field [0001] The invention belongs to the field of spacecraft general assembly testing, and in particular relates to a rapid calibration method for the coordinate system of a theodolite at the end of a robot of a spacecraft equipment position automatic measurement system, which can not only make the on-site calibration process of the automatic measurement system convenient, fast and easy to implement, but also can Effectively improve the calibration accuracy of the robot theodolite. Background technique [0002] In order to improve the automation level, flexibility and flexibility level of the equipment installation accuracy measurement process in the spacecraft assembly process, the inventors have studied a method for automatic alignment and measurement of spacecraft equipment position and orientation information based on the combination of robots and theodolites (accepted) No.: 201710085892.3), in order to improve the efficiency of on-site measurement and reduce ...

AI Technical Summary

Problems solved by technology

[0004] Due to the low accuracy of the measurement points of the measurement system composed of two theodolites, it directly affects the accuracy of the above calibration results and the final measurement accuracy of the system

In addition, during the on-site calibration process, two theodolites need to be set up to measure the common points at the same time, which makes the calibration process complicated, inefficient and unsuitable for implementation.

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