中文摘要：

利用旋量理论中的指数积公式建立了关节臂坐标测量机的理想数学模型,以基于单点多姿态与两点距离的系统误差模型为目标函数,运用了改进的粒子群优化算法对目标函数进行优化,进而实现了运动学参数的快速标定.实验结果表明：经过参数标定后,测量机的单点重复性精度提高了89.53%,长度测量精度提高了88.16%.所提标定方法简单易行.

英文摘要：

The ideal mathematical model of articulated arm coordinate measuring machine （AACMM） is established by the product of exponentials formula （POE） in the screw theory.An error model based on single point versus multi-pose and the distance of two points is regarded as an objective function,and then an improved particle swarm optimization （PSO） algorithm is utilized to optimize the objective function and calibrate actual kinematic parameters.Experimental results validate that the repeatability and length measurement accuracy of the articulated arm coordinate measuring machine （AACMM） with the aid of the calibration is improved up to 89.53% and 88.16%,respectively.The proposed method is convenient to calibration.