基于分段线性回归的煤机装备机载操作臂定位误差补偿方法

Positioning error compensation method of coal machine equipment airborne operating arm based on piecewise linear regression

针对煤机装备机载操作臂的定位误差补偿问题,提出了一种基于分段线性回归的定位误差补偿方法。该方法基于一种煤机装备的典型机载多关节操作臂进行运动学分析,建立了正向运动学和逆向运动学方程;基于3个工作位置设计了操作臂固定的"■"形运行路径;多次采集同一路径中多个位置点的位置信息,对路径点的测量值与目标值进行数据分析,并对目标值进行修正,实现误差补偿。实验验证结果表明,运用分段线性回归的方法进行误差补偿,使得x、y、z三个方向的均方根误差分别降低到100 mm以下,平均绝对误差降低到100 mm以下,满足误差在100 mm以下的工作需求。

Aiming at the problem of positioning error compensation of coal machine equipment airborne operating arm,a method of positioning error compensation based on piecewise linear regression was proposed.The forward and reverse kinematics equations were established based on the kinematics analysis of a typical airborne multi-joint operating arm of coal machine equipment.The fixedШ-type running path of the operating arm was designed based on the three working positions.The position information of multiple positions in the same path was collected many times.The measurement value and target value were analyzed.The target value was corrected to realize error compensation.The experimental results show that the method of piecewise linear regression can reduce the root mean square error in x,y and z directions to less than 100 mm,and the absolute value error to less than 100 mm,which can meet the requirement of error within 100 mm.