Patent ID: 11959743
Assignee: GUANGDONG UNIVERSITY OF TECHNOLOGY
Field: Measurement (Instruments)
Classification: CPC G  Y | IPC A  G

Claim 4:
5. The dimensionless kinematics calibration apparatus based on the virtual point according to claim 4, wherein the dimensionless kinematics model is:, P
   =
   
    
     [
     
      
       
        
         p
         1
        
       
       
        
         p
         2
        
       
       
        
         p
         3
        
       
       
        
         p
         4
        
       
      
     
     ]
    
    T
   
  
  ;
 

 
  {
  
   
    
     
      
       
        p
        1
       
       =
       
        
         
          [
          
           
            
             
              p
              
               1
               ⁢
               x
              
             
            
            
             
              p
              
               1
               ⁢
               y
              
             
            
            
             
              p
              
               1
               ⁢
               z
              
             
            
           
          
          ]
         
         T
        
        =
        
         
          T
          
           O
           ⁢
           T
          
         
         +
         
          
           
            R
            
             O
             ⁢
             T
            
           
           [
           
            
             
              0
             
             
              0
             
             
              0
             
            
           
           ]
          
          T
         
        
       
      
     
    
    
     
      
       
        p
        2
       
       =
       
        
         
          [
          
           
            
             
              p
              
               2
               ⁢
               x
              
             
            
            
             
              p
              
               2
               ⁢
               y
              
             
            
            
             
              p
              
               2
               ⁢
               z
              
             
            
           
          
          ]
         
         T
        
        =
        
         
          T
          
           O
           ⁢
           T
          
         
         +
         
          
           
            R
            
             O
             ⁢
             T
            
           
           [
           
            
             
              a
             
             
              0
             
             
              0
             
            
           
           ]
          
          T
         
        
       
      
     
    
    
     
      
       
        p
        3
       
       =
       
        
         
          [
          
           
            
             
              p
              
               3
               ⁢
               x
              
             
            
            
             
              p
              
               3
               ⁢
               y
              
             
            
            
             
              p
              
               3
               ⁢
               z
              
             
            
           
          
          ]
         
         T
        
        =
        
         
          T
          
           O
           ⁢
           T
          
         
         +
         
          
           
            R
            
             O
             ⁢
             T
            
           
           [
           
            
             
              0
             
             
              b
             
             
              0
             
            
           
           ]
          
          T
         
        
       
      
     
    
    
     
      
       
        p
        4
       
       =
       
        
         
          [
          
           
            
             
              p
              
               4
               ⁢
               x
              
             
            
            
             
              p
              
               4
               ⁢
               y
              
             
            
            
             
              p
              
               4
               ⁢
               z
              
             
            
           
          
          ]
         
         T
        
        =
        
         
          T
          
           O
           ⁢
           T
          
         
         +
         
          
           
            R
            
             O
             ⁢
             T
            
           
           [
           
            
             
              a
             
             
              b
             
             
              0
             
            
           
           ]
          
          T
         
        
       
      
     
    
   
   ;
  
 

wherein, P represents the dimensionless kinematics model, and P1, P2, P3 and P4 are a first virtual point, a second virtual point, a third virtual point and a fourth virtual point respectively; [P1x P1y P1z] represent coordinates of the first virtual point, [P2x P2y P1z] represent coordinates of the second virtual point, [P3x P3y P3z] represent coordinates of the third virtual point, and [P4x P4y P4z] represent coordinates of the fourth virtual point; and TOT is a translation matrix of a measured point, ROT is a rotation matrix of the measured point, a is a distance between the point P1 and the point P2 on the X-axis of the reflecting head coordinate system, and b is a distance between the point P1 and the point P3 on the Y-axis of the reflecting head coordinate system.