基于倾角传感器的液压机械臂关节位置信息采集方法

Joint position information acquisition method of hydraulic mechanical arm based on inclination sensor

液压机械臂的出现与应用,大幅度提升了生产的效率与收益。液压机械臂任务完成与否取决于关节运行轨迹规划与控制情况,而关节控制的主要依据就是关节位置信息,提出基于倾角传感器的液压机械臂关节位置信息采集方法研究。构建液压机械臂关节动力学模型,以此为基础,引入倾角传感器获取关节水平角度变化相关信号,采用小波阈值消噪算法去除倾角传感器信号中的噪声,基于坐标系之间的关系转换倾角传感器输出角信息,结合激光标靶关节标定初始信息,确定关节最终的位置信息,通过位置传感器实现关节位置信息的采集。实验数据显示:应用提出方法采集的关节1与关节2位置信息结果与实际位置信息保持一致,关节位置信息采集连续系数最大值为0.96,充分证实了提出方法应用性能更佳。

The emergence and application of hydraulic mechanical arm has greatly improved the efficiency and income of production.Whether the task of the hydraulic manipulator is completed or not depends on the joint trajectory planning and control,and the main basis of joint control is joint position information.The joint dynamic model of the hydraulic mechanical arm is constructed.On this basis,the inclination sensor is introduced to obtain the signal related to the change of joint horizontal angle.The wavelet threshold de-noising algorithm is used to remove the noise in the inclination sensor signal.Based on the relationship between coordinate systems,the angle information output by the inclination sensor is converted.Combined with the initial information of laser target joint calibration,the final position information of the joint is determined,The joint position information is collected by position sensor.The experimental data show that the position information of joint 1 and joint 2 collected by the proposed method is consistent with the actual position information,and the maximum continuous coefficient of joint position information collection is 0.96,which fully confirms that the proposed method has better application performance.