A calibration method of articulated coordinate measuring machine based on ipde algorithm

Abstract

The invention discloses a calibration method for an articulated coordinate measuring machine based on an IPDE algorithm. The method is as follows: 1. Mathematical model. 2. Use an articulated coordinate measuring machine to collect multiple sets of joint angle data. Third, establish the fitness function. Fourth, use the IPDE algorithm to identify the kinematic parameters of the measuring machine. The present invention embeds the PSO algorithm and the interior point method into the differential evolution algorithm. First, through the parallel operation of the PSO algorithm and the DE algorithm, the rapid convergence of the PSO algorithm is used to improve the convergence speed of the algorithm, and then the interior point method is used to perform a local search with high precision to improve the probability of finding the optimal solution. By using the IPDE algorithm, the identification accuracy and speed of the kinematic parameters of the articulated coordinate measuring machine are improved, and the effectiveness of the method of the present invention is also verified through simulation experiments. The present invention considers enabling the interior point method under specific conditions, that is, when the algorithm optimization is stagnant, and reduces the computational complexity caused by the embedded interior point method.

Description

technical field [0001] The invention belongs to the field of coordinate measurement, in particular to a calibration method for an articulated coordinate measuring machine based on an IPDE algorithm. Background technique [0002] As a non-orthogonal coordinate measuring machine, the articulated coordinate measuring machine consists of a measuring arm and a rotating joint in series to form an open-chain structure. Compared with the traditional orthogonal coordinate measuring machine, it has the advantages of high flexibility, small size, large measuring range, easy operation and good environmental adaptability. However, due to the shortcoming of accumulative error amplification in this tandem structure, the error of the structural parameters of the joints at all levels is amplified step by step, resulting in a decrease in the measurement accuracy. The kinematics calibration of the articulated CMM must be carried out before use to minimize the influence of structural parameter...

AI Technical Summary

Problems solved by technology

The improved genetic algorithm used by Wang Xueying et al. does not require the initial value of the iteration, and has a good convergence rate, but the global convergence ability is weak, and it is difficult to find the global optimal solution; Jia Dongli et al. proposed a hybrid difference based on chaos and Gaussian local optimization Evolutionary algorithm, etc.; Patent CN110398219A proposes a method for calibrating an articulated coordinate measuring machine based on a hybrid genetic least squares algorithm; Patent CN110276101A proposes a simplex differential evolution algorithm as a calibration method for an articulated coordinate measuring machine

[0004] The above algorithm cannot meet the requirements of identification speed, identification accuracy and convergence in the calibration process of joint-type coordinate measuring machine.

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