基于柔度误差检测的锚杆台车机械臂定位

Bolting Jumbo Boom Positioning Based on Compliance Error Detection

目前国内锚杆台车多数由人工操作,定位精度低且速度慢。以其定位精度的提高和自动化施工的实现为目的,从误差检测及补偿的角度出发,以DH模型为基础,提出了基于机器视觉和激光测距的臂架柔度检测方法来获取柔度误差,采用全站仪对锚杆台车关节位姿进行测量获取臂架的参数误差,建立了锚杆台车定位误差补偿模型;同时采用牛顿拉夫逊法和梯度投影法,建立了迭代法求两次逆解确定关节变量的臂架定位算法。研究结果表明:柔度误差检测方法的测量误差保持在0.010 m左右;基于该模型实际工作时,末端误差基本小于0.050 m,满足施工要求。本研究提出的机械臂定位方法已成功应用于锚杆台车的定位系统,并且在实际工程中应用效果良好。

The manual positioning of bolting Jumbo has the disadvantages of low efficiency and low accuracy.In order to improve the positioning accuracy and realize the automatic construction,starting from the positioning error compensation of the boom,a deformation measurement method based on machine vision was proposed to obtain the compliance error of the boom based on the DH kinematics model.The parameter error of the boom was obtained by total station instrument.The kinematic model of the positioning error compensation was established.The Newton Raphson method and the gradient projection method were used to establish the iterative method to find the arm position of the joint value by two inverse solutions.The research results show that the measurement error of the compliance error detection method is kept at about 0.010 m.When the boom is positioned based on the error compensation model,the measured end positioning error is less than 0.050 m,which meets the actual positioning requirements of the project.The boom positioning method proposed in this study has been successfully applied to the boom positioning system of bolting Jumbo,and it shows a good application effect in practical engineering.