Joint track error compensation method for oil pipe transfer robot
A technology for handling robots and error compensation, which is applied in the direction of manipulators, program-controlled manipulators, and manufacturing tools, and can solve problems such as reduced motion accuracy, being in a given position, and affecting equipment processing and repair accuracy.
Active Publication Date: 2022-04-12
山东高原油气装备有限公司 +1
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[0003] However, the inventor found after further research that because the oil pipe is long and heavy, the robot linkage mechanism has many joints, and if there is a slight deviation between the joints of the linkages, the positions of all joints after this joint will change, and all components will be offset; and Since there is no feedback, even if all the joint variables are set, it is impossible to ensure that the end of the tubing handling robot is accurately in a given position, which will easily lead to a decrease in motion accuracy during the handling process, which will directly affect the accuracy of equipment processing and repair
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[0061] Specifically, as a preferred embodiment of the present invention, step 4 can be specifically described as:
[0062] Such as Figure 4 As shown, the dynamic adjacency matrix of each time step is synchronously generated according to the recursive operation of DGCRN; and at time t, according to the obtained joint angle values , given the training step size M; will to As training input, predict the output sequence to .
[0063] It is worth noting that since the above joint dynamic graph recurrent network model mainly makes the predicted angle infinitely close to the actual angle of the joint, in order to prevent overfitting, an L2 regular term is added at the same time, and the specific definition of the loss function can be as follows:
[0064] .
[0065] Among them, λ in the above formula is a regularization hyperparameter. By calculating the loss function between the predicted value and the actual value, the adaptive moment estimation optimization algorithm...
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The invention belongs to the technical field of joint track error compensation of oil pipe carrying robots, and particularly relates to a joint track error compensation method of an oil pipe carrying robot. According to the joint track error compensation method for the oil pipe carrying robot, the oil pipe carrying motion precision of the tail end executing mechanism of the carrying robot is improved, the machining and repairing efficiency of manufacturing equipment is improved, and meanwhile the operation cost of the manufacturing equipment is reduced. A joint trajectory error compensation method for an oil pipe transfer robot comprises the steps of constructing a joint topological graph and a joint angle characteristic matrix of the oil pipe transfer robot, constructing a joint dynamic graph network model of the oil pipe transfer robot, constructing a joint dynamic graph circulation network model of the oil pipe transfer robot, and compensating joint trajectory errors of the oil pipe transfer robot on the basis of joint angles of historical sequences. And predicting a joint angle of a future sequence and the like.
Description
technical field [0001] The invention belongs to the technical field of joint track error compensation of oil pipe handling robots, and in particular relates to a method for compensating joint track errors of oil pipe handling robots. Background technique [0002] Oil tubing processing or repair equipment is widely used in oilfield tubing processing, repair, painting, testing and other processes. It is worth noting that due to the long length and heavy weight of the oil pipe, manual loading is time-consuming and laborious. Therefore, at this stage, a robot linkage mechanism is usually used for handling, so as to fundamentally solve the problem of oil oil pipe handling. [0003] However, the inventor found after further research that because the oil pipe is long and heavy, the robot linkage mechanism has many joints, and if there is a slight deviation between the joints of the linkages, the positions of all joints after this joint will change, and all components will be offset...
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IPC IPC(8): B25J9/16
Inventor 谭帅薛鹏李鑫宁杨先海张永辉郑光明
Owner 山东高原油气装备有限公司