Vehicle-mounted building robot error compensation method based on parameter identification

Abstract

The invention provides a parameter identification-based vehicle-mounted building robot error compensation method. The method comprises the following steps of 1, establishing a kinematic model based on MD-H; 2, calibration is conducted on the basis of an MD-H model and a mechanical arm base of a laser tracker; and thirdly, kinematic model repairing of the mechanical arm is conducted on the basis of the MD-H kinematic model and mechanical arm connecting rod parameter identification of the improved least square method, and therefore the tail end error of the mechanical arm is compensated. According to the method, the problem of error compensation under uncertain load and environment information in the assembly operation process of the building robot under complex working conditions is solved, and the precision and efficiency of an error compensation model are improved under the condition of certain cost.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an error compensation method for a vehicle-mounted construction robot based on parameter identification. Background technique [0002] The construction site is a typical semi-structured and complex scene. To complete the assembly operation safely and accurately, the construction robot needs to solve problems such as self-positioning, environmental perception and real-time danger avoidance during the operation process. The vehicle-mounted robot is the main form of construction robots. Its main body is the mobile chassis and the operating arm. Factors such as the tilt of the chassis, the elastic deformation of the operating arm, and the coupling between the mobile chassis and the mechanical arm will lead to inaccurate positioning of the end of the vehicle-mounted robot. However, factors such as complex ground environment and variable loads on the construction site, tire deformation ...

AI Technical Summary

Problems solved by technology

The vehicle-mounted robot is the main form of the construction robot. Its main body is the mobile chassis and the operating arm. Factors such as the tilt of the chassis, the elastic deformation of the operating arm, and the coupling between the mobile chassis and the mechanical arm will lead to inaccurate positioning of the end of the vehicle-mounted robot.

However, the ground environment of the construction site is complex, the load is variable, the deformation of the tires of the mobile chassis of the construction robot, the joint clearance of the multi-degree-of-freedom manipulator, the insufficient stiffness of the components, and the positioning error between the robot and the site environment will lead to uncertainty in the assembly operation.

[0003] Due to the complexity of the construction site and the difficulty in establishing an error database considering the floating base of the chassis, it is not suitable to use the neural network method to predict and compensate the positioning error of the construction robot; due to the small field of view of the camera, it is very easy to install external devices at the same time Constrained by the external environment, and compared with the off-line calibration technology, the cost is greatly increased, so it is not suitable to use cameras or add various sensors for positioning error prediction and compensation

Previous studies mainly focused on improving the structural parameters of the robot body or separately considering the influence of a single factor in the mobile chassis, external load, internal drive speed, assembly error, joint clearance and rod deformation on the positioning accuracy of the manipulator, and few comprehensive considerations have been made. Multi-physical factors of the positioning accuracy of the manipulator and the strong coupling between the mobile chassis and the manipulator

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