An error identification method for zero position calibration of swing arm crawler robot

Abstract

The invention discloses an error identification method for zero adjustment for a swing arm type tracked robot. The error identification method for the zero adjustment for the swing arm type tracked robot includes the zero adjustment which considers transmission mechanism return error and the zero adjustment which does not consider the transmission mechanism return error, if the robot is located in a large enough plane environment, a track body is located at a horizontal state under the situation that the robot is completely supported by the track body. According to the essence that the control for joint positions of the swing arm type tracked robot is aimed to adapt to the support and move needs of different road surfaces, the error identification method fully uses the common scene of which the plane is close to the horizontal plane, and the zero adjustment for swing arm joints can be realized through an incremental encoder arranged at a motor shaft without any other position detection sensor.

Description

technical field [0001] The invention relates to an error identification method for zero position calibration of a swing arm crawler robot. Background technique [0002] For the swing arm crawler robot, including the crawler body to realize the mobile drive, it consists of two or four rotatable swing arms. The position angle θ of the swing arm usually needs to be controlled in real time according to the terrain environment. The position control of the swing arm is a joint mechanism. As a special application of articulated mechanism, as the electric drive scheme usually adopted by articulated mechanism, the driving structure of typical articulated mechanism is to obtain the absolute position θ of the joint, which is the precondition for realizing precise position control. The joint transmission structure is through the motor through the coupling The drive drives the joint movement through a reduction drive. Due to factors such as cost, installation space, and precision requir...

AI Technical Summary

Problems solved by technology

This method is an indirect way to obtain the absolute position of the joint, and two problems need to be solved: one is zero calibration, that is, since the incremental encoder measures the relative position of the shaft through pulses, zero calibration is required to obtain the absolute position of the joint ; the other is transmission error measurement, that is, because this method detects the position of the motor shaft, and then calculates the joint position required by the control target indirectly according to the theoretical transmission ratio, although the position of the motor shaft can be obtained by selecting a high-precision code. Position measurement accuracy, but it is impossible to know the error caused by the transmission mechanism from the motor to the end joint, resulting in the measured target position accuracy is not high, and the transmission mechanism error is mainly the return error, so how to obtain the return error is also a realization Key issues to be solved in high-precision position measurement

[0005] The most common solution at present is to install auxiliary position sensors such as absolute position encoders, rotary potentiometers, limit switches or infrared proximity switches on the joint axis to achieve zero calibration. On the one hand, this method requires the installation of additional sensors at the joint position , for crawler robots that require a compact structure, the flexibility of the mechanism design is greatly reduced, and the introduction of additional sensors at the movable joint position will reduce the reliability of the system; on the other hand, this method cannot solve the transmission problem caused by the reduction drive error identification problem

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