关键词: 位姿标定, 位置敏感探测器, 同构变换, 非线性最小二乘法

Abstract: In the process of spatial pose calibration measurement for the four-position sensitive detector Position Sensitive Detector(PSD),there is a coupling problem of translation and rotation errors.For this problem,a spatial pose calibration method for 4-PSD array based on isomorphic transformation was proposed.A laser tracker was used to measure the coordinates of the three target spheres A,B,C fixed on the 4-PSD array,and the laser beam was collected and projected onto the spot coordinates P1,P2,P3,P4on the 4-PSD array at the same time.The 4-PSD array were moved,and the coordinates A,B,C of the three target spheres and the coordinates of P1,P2,P3,P4were recorded again.The constraint equation was constructed according to the property that the pose matrix before and after the movement of the 4-PSD measurement array wasequal in similarity,the particle swarm optimization algorithm was used to solve for f.The test of robot positioning accuracy showed that the position accuracy of the robot based on the calibration of the 4-PSD array was improved by 66.27%.The attitude accuracy(heading angle,pitch angle and roll angle) increased by 61.58%,68.69% and 69.35% respectively.Compared with existing methods,the maximum improvement in position accuracy was 1.71%,while the maximum improvement in pose accuracy was 51.57%.

Key words: pose calibration, position-sensitive detector, isomorphic transformation, nonlinear least squares