Research On The 6-DoF Position And Orientation Measurement System

With the development of science and technology,the pose and position measurement techniques are playing an increasingly key part in motion tracking,robot calibration,automatic production,modern control.A 6-Do F position and pose measurement method is proposed in this thesis.This thesis makes a deep study on the measurement model,performance analysis and performance optimization.The main research work focused in the following areas:(1)A 7-SPS type 6-Do F pose and pose measurement system based on cable displacement sensor is posed in this thesis.Then this thesis expounds the design and realization of the system.The measurement mechanism kinematics mode is established and a new algorithm is proposed for kinematic positive solution.(2)According to their characteristics a new method is proposed for solving robot workspace based on the Monte Carlo method,by which the method would be a suitable way for Parallel mechanism.The mapping relationship between sensor error and the measurement error is dealt with in this thesis.The measuring precision sensitivity of position and pose measuring mechanism is also defined.(5)This thesis built the position and pose measuring mechanism optimization model and using genetic algorithm for the position and pose measuring mechanism optimization.The design parameters of a measuring mechanism with better precision under the condition of restriction are obtained.(6)The test platform is established and the experiments are designed based on the test platform.The error of the 7-SPS measurement system and the 6-SPS measurement system was verified by experiments.Results from experiments prove that the proposed 7-SPS measurement system is more accurate.