According to the
diffusion type six-degree-of-freedom
pose estimation-based steel column bottom plate prizing-free downward
insertion method, the performability problem of one-time prizing-free downward
insertion of a steel column bottom plate under the condition that a porous array is in a limited space and disturbed is solved, a task window is established under a unified construction coordinate
system, and bolt axes and hole centers are collected and registered according to array topology; predictive interference is eliminated through
diffusion type six-degree-of-freedom
pose estimation with
insertion constraint preposed, an allowable insertion
pose range tightened along with the height is generated according to clearance and
safety margin, and a downward insertion channel and an insertion constraint set are constructed in a communicating mode; tubular
model predictive control is established in a feasible region, bounded disturbance of
wind disturbance and swing is considered, a nominal trajectory and a segmented
speed limit value of a channel center are formed,
input shaping swing suppression and online monitoring are implemented, and withdrawing and rapid regeneration control are performed along a channel when necessary; the method is used for installation of simultaneous sleeving of multiple holes in the steel column bottom plate, and has the beneficial effects that the minimum clearance is kept not lower than the
safety margin, lateral contact and prying are avoided, and the forbidden area is not touched under the limited space and disturbance.