船载机械臂末端位置实时补偿

Real⁃time compensation of end position of marine carrier manipulator

船载机械臂作为货物转运、海洋施工的重要设备,受风浪等海上恶劣环境的影响,其末端会出现定位失准和载荷摇摆等问题,很大程度上影响了海上作业的效率以及操纵安全。本文以此为出发点,在实验室环境下搭建了近海船载机械臂的工况模拟平台,首先建立整个系统平台的全局坐标系,通过各个坐标系的齐次变换研究了全局坐标系下工况模拟平台激励引起的船载机械臂末端位置变化。然后,基于惯导传感器检测出的平台模拟船舶运动的实时姿态信号,提出了基于逆运动学的船载机械臂末端位置实时补偿控制算法。最后,通过实验数据表明,船载机械臂末端在x、y、z三个方向的实时补偿最大误差分别为9.32、14.43和65.54 mm,补偿率高达90%以上,能有效抑制海浪环境下船载机械臂末端位置的变化,验证了其补偿控制算法的合理性和有效性,为真实环境下船载机械臂补偿的研究提供了一种思路和方法。

As an important equipment of Cargo operation and Marine construction,the end-mounted mechanical arm of a ship may suffer from improper positioning and load swing due to the adverse environment such as wind and waves. This greatly affects the efficiency of offshore operations and the safety of operation. To solve this problem,a simulation platform of shipborne mechanical arm was built in the laboratory environment. Firstly,the global coordinate system of the whole system platform was established,the changes of the position of the end of the shipborne mechanical arm of the global coordinate system were studied through the homogeneous transformation of each coordinate system. Then,a realtime compensation control algorithm based on inverse kinematics is proposed. Finally,Experiment results show that the maximum errors of the real-time compensation of the end of the mechanical arm in the x,y,z directions were 9.32,14.42 mm and 65.54 mm,The compensation rate is higher than 90%,which verifies the effectiveness of the compensation control algorithm,This study may provide a reference for real environment compensation research.