A motion modeling and parameter identification method for an airport runway inspection robot

A technology of robot movement and airport runway, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inaccurate models, ignoring internal force relations, approximate processing of unknown parameters, and affecting robot motion control, etc., to achieve modeling Effect of Accurate, Accurate System Models

Active Publication Date: 2022-06-21
HARBIN ENG UNIV
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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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  • A motion modeling and parameter identification method for an airport runway inspection robot
  • A motion modeling and parameter identification method for an airport runway inspection robot
  • A motion modeling and parameter identification method for an airport runway inspection robot

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Embodiment Construction

[0040] The present invention will be described in further detail below with reference to the accompanying drawings.

[0041] The invention relates to the field of robot motion modeling and parameter identification methods, in particular to the field of robot motion modeling and parameter identification methods based on airport runway detection. The invention designs a motion modeling and parameter identification method for an airport runway detection robot system, establishes the kinematic equation of the airport runway detection robot by using the coordinate transformation method, and obtains the coordinate system transfer matrix. Then use the least square method to identify the relevant unknown parameters, and finally use the Lagrangian method and combine the identified parameters to establish the dynamic model of the airport runway detection robot motion system. The design flow chart is as follows figure 1 shown.

[0042] A motion modeling method for an airport runway dete...

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Abstract

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. A motion modeling and parameter identification method for an airport runway detection robot, comprising the following steps: setting the prerequisites for the motion modeling of the airport runway detection robot and establishing a relevant coordinate system; establishing a kinematics model of the airport runway detection robot by using a coordinate transformation method and the transfer matrix; establish the Newtonian dynamics equation of the system; solve the relationship between the input voltage and the wheel angular velocity according to the established Newtonian dynamics equation, and use the least square method to identify the unknown parameters of the robot system model; use the Lagrangian method to combine identification As a result, the final dynamic model of the robot motion system is established. The motion modeling method described in the present invention can achieve the purpose of establishing a relatively accurate system model when detecting robots on airport runways, and has the characteristics of accurate modeling and the like.

Description

technical field [0001] The invention relates to the field of robot motion modeling and parameter identification methods, in particular to the field of robot motion modeling and parameter identification methods based on airport runway detection. Background technique [0002] With the development of the modern aviation industry, the airport runway is an important platform for aircraft take-off and landing, and its safety has been paid more and more attention. Defects and foreign objects on airport runways pose a great threat to aircraft take-off and landing. Therefore, the safety detection of the airport runway is of great 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 mathematical model of system motion is very important for the autonomous motion control of the robot. [0003] The airport runway inspect...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J11/00B25J5/00
CPCB25J9/1605B25J11/00B25J5/007
Inventor 李芃张鑫张兰勇刘胜刘洪丹
Owner HARBIN ENG UNIV
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