Motion modeling and parameter identification method for airport runway detection robot

Abstract

The invention relates to the field of robot motion modeling and parameter identification methods, in particular to the field of motion modeling and parameter identification methods based on an airportrunway detection robot. A motion modeling and parameter identification method for the airport runway detection robot comprises the following steps of setting preconditions of motion modeling for theairport runway detection robot and establishing a relevant coordinate system; establishing a kinematic model and a transfer matrix of the airport runway detection robot by adopting a coordinate transformation method; establishing a newton dynamical equation of the system; solving the relation between an input voltage and an wheel angular velocity according to the established newton dynamical equation, and identifying unknown parameters of the robot system model by adopting a least square method; and establishing a final robot motion system dynamics model by adopting a lagrangian method in combination with the identification result. The motion modeling method for the airport runway detection robot can achieve the purpose of establishing a more accurate system model and has the characteristics of being accurate in modeling and the like.

Description

technical field [0001] The invention relates to the field of a robot motion modeling and parameter identification method, in particular to the field of a robot motion modeling and parameter identification method based on airport runway detection. Background technique [0002] With the development of the modern aviation industry, airport runways, as an important platform for aircraft to take off and land, have received more and more attention to their safety. Defects and foreign objects on the airport runway pose a great threat to the process of aircraft take-off and landing. Therefore, the safety detection of the airport runway has very important practical significance to ensure the smooth take-off and landing of the aircraft. It is a practical solution to use an airport runway inspection robot with omnidirectional wheels for automatic inspection, and an accurate system motion mathematical model is crucial to the autonomous motion control of the robot. [0003] The airport...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a motion modeling and parameter identification method for an airport runway detection robot. The technical problem to be solved is that the previous airport runway detection robot modeling method ignores the internal force relationship and approximates unknown parameters, resulting in the established The model is inaccurate, affecting subsequent robot motion control problems

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