关键词: 并联机床, 动态定位, 惯性传感器, 卡尔曼滤波, 数据融合

Abstract: For the problem of dynamic positioning of a parallel machine(PM), inertial sensing technology to the measurement of moving platform pose is applied. A Kalman filtering based inertial sensing method is proposed for the dynamic pose measurement of a parallel machine. Through Kalman filtering algorithm, the inertial measurement measured by inertial sensors is fused with the external encoder measurement to compensate the dynamic measuring error and computational error, so as to realise accurate pose (positions and orientations) positioning of a PM platform. The modelling procedure of inertial system model and external measurement model in the KF algorithm are introduceed. The deriving process of the relation matrix of measurement variables and state variables is presented. Finally, a simplified experiment for one-axis movement is implemented to validate of the method, and the emulation work is done for the 6 degree of freedom PM pose measurement. The result shows that the proposed algorithm on PM pose determination is valid and effective.

Key words: Data fusion, Dynamic positioning, Inertial sensors, Kalman filtering, Parallel machine