A new quaternion based kinematic model for the operation and the identification of an articulated arm coordinate measuring machine inspired by the geodetic methodology

In this paper we describe the mathematical model of a kinematic chain and its use in the design and implementation of the algorithms that are necessary for the operation and the identification of an AACMM. The mathematical model is based on the use of quaternions for the representation of rotations. The direct kinematic problem is solved by a quite straightforward application of the model. The identification problem is solved with an iterative procedure based on linearized equations and the application of the least squares principle. The analytical linearization of the equations and the definition of some constraint equations are a significant part of the paper. The model can be also used to describe the kinematic chain of a robotic arm. The description of some experiments performed with a functioning AACMM demonstrate the effectiveness of the model and of the algorithms. (C) 2017 Elsevier Ltd. All rights reserved.