基于误差敏感分析的Stewart平台参数辨识方法

石勇¹, 刘文涛²

(1. 哈尔滨工程大学 动力与能源工程学院,150001 哈尔滨;2.哈尔滨工业大学 机电工程学院, 150001 哈尔滨)



摘要:

针对Stewart平台参数辨识问题,提出基于误差敏感分析的参数辨识方法．通过建立Stewart动平台在不同位置点的位姿误差模型,得到Stewart平台结构参数辨识方法,该方法解析了Stewart平台在不同位姿下,结构参数变化及对其输出的敏感性．利用数值法构造出误差影响敏感矩阵,可辨识系统结构参数．通过实例计算与修正,Stewart平台位置误差从4.8 mm降到到1.12 mm,角度误差从5.4°降到1.05°,验证了该辨识方法是有效可行的．

关键词:  Stewart平台  标定  辨识  误差敏感分析  正解模型  逆解模型

DOI：10.11918/j.issn.0367-6234.2013.10.022

分类号:

基金项目:中央高校基本科研业务务费专项资金资助(HEUCF130307)．



Parameters identification method of Stewart platform based on error sensitivity analysis

SHI Yong¹, LIU Wentao²

(1. College of Power and Energy Engineering, Harbin Engineering University, 150001 Harbin,China; (2. School of Mechatronic Engineering, Harbin Institute of Technology, 150001 Harbin, China)

Abstract:

Aiming at the parameter identification of Stewart platform, a parameters identification method based on error sensitivity analysis was presented. With the creation of the position and pose error model at two different points of move platform, the identification method for structural parameters of Stewart platform is deduced. The method explains the sensitivity between the structural parameters and the position and pose of Stewart platform at the different points. In an instance, Stewart platform position error is reduced from 4.8 mm to 1.12 mm, and angle error from 5.4° to 1.05°. Therefore, the identification method is verified effective and feasible.

Key words:  Stewart platform  calibration  identification  error sensitivity analysis  forward kinematics model  backward kinematics model