Calibration, non-geometric error modelling and correction methods for Articulated Arm Coordinate Measuring Machines

摘要

The different accuracy and repeatability requirements of articulated Arm Coordinate Measuring Machines (AACMM) and robots make it necessary to consider different kinematic parameters identification techniques covering the characteristic operational parameters in each case. This paper presents a data capture technique for subsequent identification of an AACMM kinematic model parameters, using nominal data reached by a ball bar and a kinematic coupling. Also this paper addresses the performance evaluation of the algorithm and objective functions used, based on a new approach, including terms regarding measurement accuracy and repeatability.