排爆机器人机械臂定位精度误差自动补偿方法研究

Research on Automatic Compensation Method for Positioning Accuracy Error of Exhaust Robot Manipulator

摘要:

针对于排爆机器人在进行排除爆破物质时，机械臂不能满足绝对准确的定位要求，位置检测精度与实际距离之间存在一定的误差。为了解决这一问题，提出排爆机器人机械臂定位精度误差自动补偿方法。基于D-H运动模型和微分变换法创建排爆机器人机械臂位姿误差模型，对误差模型进行重复参数分析，去除重复参数获得可辨识的线性方程；在可辨识的运动学参数误差模型线性方程中加入一个增量进行误差补偿。最后通过仿真实验结果表明，所提方法通过对机械臂位姿误差模型进行有效补偿，使排爆机器人机械臂绝对定位精度均值提升1.3mm。

Abstract:

When the explosive robot is used to eliminate the blasting material, the mechanical arm cannot meet the absolutely accurate positioning requirements, and there is a certain error between the position detection accuracy and the actual distance. In order to solve this problem, an automatic compensation method for the positioning accuracy error of the robot arm of the detonation robot is proposed. Based on the DH motion model and the differential transformation method, the pose error model of the robot arm of the detonation robot is created. The error model is analyzed by repeated parameters, and the repeated parameters are removed to obtain the identifiable linear equation. The linear equation of the identifiable kinematic parameter error model is added. An incremental error compensation. Finally, the simulation results show that the proposed method effectively compensates the absolute positioning accuracy of the robot arm by 1.3mm by effectively compensating the attitude error model of the robot arm.