基于位姿误差补偿的全电脑凿岩台车钎杆定位算法
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摘要
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.
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.
引文
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[2]JIANG Qimi,AHMED S N.The kinematics of 6R-2P mining drill jumbo[J].Journal of Mechanisms and Robotics,2014,6(3):034501.
[3]WANG Yujun,FANG Can,JIANG Qimi,et al.The automatic drilling system of 6R-2P mining drill jumbos[J].Advances in Mechanical Engineering,2015,7(2):504861.
[4]WANG Hengsheng,ZHAN Deyou,HUANG Pinglun,et al.Inverse kinematics of a heavy duty manipulator with 6-DOFbased on dual quaternion[J].Journal of Central South University,2015,22(7):2568-2577.
[5]何清华,周宏兵.凿岩机器人钻臂的运动学研究[J].中南工业大学学报(自然科学版),1998,29(5):483-486.HE Qinghua,ZHOU Hongbing.Kinematic study of rock drilling robot arm[J].Journal of Central South University of Technology(Natural Science Edition),1998,29(5):483-486.
[6]周友行,唐稳庄,张建勋.基于运动轨迹的机器人运动学逆解研究[J].机械科学与技术,2009,28(7):862-866.ZHOU Youhang,TANG Wenzhuang,ZHANG Jianxun.A study of the inverse kinematics of a multi-joint redundant robot based on its moving path[J].Mechanical Science and Technology for Aerospace Engineering,2009,28(7):862-866.
[7]WANG Wei,WANG Gang,YUN Chao.A calibration method of kinematic parameters for serial industrial robots[J].Industrial Robot,2014,41(2):157-165.
[8]WANG Wei,WANG Lei,YUN Chao.Design of a two-step calibration method of kinematic parameters for serial robots[J].Chinese Journal of Mechanical Engineering,2017,30(2):438-448.
[9]ZENG Yuanfan,TIAN Wei,LIAO Wenhe.Positional error similarity analysis for error compensation of industrial robots[J].Robotics and Computer-Integrated Manufacturing,2016,42:113-120.
[10]LI Qinchuan,HERVE J,HUANG Pengcheng.Type synthesis of a special family of remote center-of-motion parallel manipulators with fixed linear actuators for minimally invasive surgery[J].Journal of Mechanisms and Robotics,2017,9(3):031012.
[11]AYYILDIZ M,MUSTAFA Z,ETINKAYA K.Comparison of four different heuristic optimization algorithms for the inverse kinematics solution of a real 4-DOF serial robot manipulator[J].Neural Computing and Applications,2016,27(4):825-836.
[12]陶金,孙青林,朱二琳,等.基于遗传算法带约束的翼伞系统归航轨迹设计[J].中南大学学报(自然科学版),2017,48(2):404-410.TAO Jin,SUN Qinglin,ZHU Erlin,et al.Genetic algorithm based homing trajectory planning of parafoil system with constraints[J].Journal of Central South University(Science and Technology),2017,48(2):404-410.
[13]ZHENG J N,CHEN C F,GEN M.Multi-objective multipopulation biased random-key genetic algorithm for the 3-Dcontainer loading problem[J].Computers and Industrial Engineering,2015,89:80-87.
[14]韩锟,潘迪夫,韩洪飞.机车车辆二系弹簧载荷分配优化的改进遗传算法[J].中南大学学报(自然科学版),2016,47(7):2521-2527.HAN Kun,PAN Difu,HAN Hongfei.An improved genetic algorithm for secondary spring load equalization of railway vehicles[J].Journal of Central South University(Science and Technology),2016,47(7):2521-2527.