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<p>Large complex components are characterized by their complexity and large size, making it challenging to precisely calibrate robots and measurement devices, compensate for their pose and error, and plan measurement paths. Consequently, it is difficult to guarantee the integrity and accuracy of three-dimensional (3D) measurements. In this study, a novel measurement trajectory planning method is developed to accurately obtain the 3D point clouds of large complex components by accounting for the field of view and overlapping area constraints. A hybrid identification algorithm based on the quasi-Newton and Levenberg Marquardt method is then proposed to realize the synchronous identification of kinematic parameter errors of the measurement system, allowing it to accurately reach the planning viewpoint. Finally, robotic calibration and measurement experiments of a high-speed rail headstock are conducted to evaluate the effectiveness and practicality of the proposed methods.</p>

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Global planning of measurement trajectory for large complex components based on the accurate error compensation of robotic systems

  • 期刊论文

  • 发表日期：

    2025年5月15日

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  • Long Wu,
  • Cheng Li,
  • Jingyu Zhao,
  • Xiaohu Xu,
  • Zeyuan Yang,
  • Sijie Yan,
  • Han Ding

摘要

Large complex components are characterized by their complexity and large size, making it challenging to precisely calibrate robots and measurement devices, compensate for their pose and error, and plan measurement paths. Consequently, it is difficult to guarantee the integrity and accuracy of three-dimensional (3D) measurements. In this study, a novel measurement trajectory planning method is developed to accurately obtain the 3D point clouds of large complex components by accounting for the field of view and overlapping area constraints. A hybrid identification algorithm based on the quasi-Newton and Levenberg Marquardt method is then proposed to realize the synchronous identification of kinematic parameter errors of the measurement system, allowing it to accurately reach the planning viewpoint. Finally, robotic calibration and measurement experiments of a high-speed rail headstock are conducted to evaluate the effectiveness and practicality of the proposed methods.