基于位姿误差补偿的全电脑凿岩台车钎杆定位算法

Positioning algorithm of drill rod for full computer-controlled rock-drilling jumbo based on pose error compensation

针对全电脑凿岩台车钻炮孔时钎杆的定位精度要求,从钎杆末端位姿误差补偿角度出发,以DH运动学模型为基础,计算臂架的动态误差和静态误差,建立钎杆定位误差补偿运动学模型;采用多种群遗传算法(MPGA),根据无误差正向运动学逆解所得关节变量(角度和距离)优化各关节值的搜索范围,结合移民算子和人工选择算子进行并行计算,建立基于钎杆运动学误差补偿模型和MPGA求逆解确定关节变量的钎杆定位算法。研究结果表明:基于误差补偿模型进行钎杆定位时,实测钎杆定位误差小于0.1 m,满足工程实际定位要求。

With consideration of the drill rod accuracy requirement of full computer-controlled rock-drilling jumbo,and the pose error compensation of the drill rod,an error compensation kinematics model of the drill rod was proposed based on the DH kinematic model and the dynamic and static error of the arm.A positioning algorithm of drill rod based on kinematic error compensation model of drill rod was established by using multiple population genetic algorithm(MPGA)which optimized search range of each joint according to the analytic solutions of the forward kinematics without error compensation and combined migration operator and artificial selection operator.The results show that when the drill rod is positioned based on the error compensation model,the positioning error of the drill rod is less than 0.1 m,which meets the requirement of the actual positioning of the project.