Tail end pose precision compensation method for long-arm-span high-altitude operation composite robot

Abstract

The invention discloses a tail end pose precision compensation method for a long-arm-span high-altitude operation composite robot. The method comprises the following steps: establishing a measurement coordinate system and a base coordinate system, setting the working pose of the tail end of a long-arm-span primary robot relative to the base coordinate system, controlling and driving the tail end of the long-arm-span primary robot to reach a specified pose, tensioning a steel rope to fix the tail end of the long-arm-span primary robot, and calculating the space pose of the tail end of the tensioned long-arm-span primary robot. And after the pose error between the current space pose of the tail end of the long-arm-span primary robot and the set pose is obtained, the pose error is compensated for the high-precision small robot. The steel rope system fixedly connected to the long-arm-span primary robot is tensioned through the external winch, the position deviation error caused by rigidity deformation and external disturbance is made up, and therefore the pose precision of the tail end of the long-arm-span high-altitude operation composite robot is improved.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a method for compensating the end pose and attitude accuracy of a compound robot for high-altitude operations with a long arm span. Background technique [0002] Aerial work robots are widely used in high-altitude operations such as surface operations on large ships and building walls due to their long arms span and relatively large working space. However, most of the existing aerial work robots have a series multi-chain structure, and the joint stiffness is low. With the increasing demand for high-precision operation, how to improve the working accuracy of the aerial workers has become the main obstacle to the further promotion and application of the high-precision field of aerial robots. SUMMARY OF THE INVENTION [0003] Aiming at the problem of low working accuracy of existing aerial work robots, the present invention proposes a method for compensating the end pose accurac...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the problem of low working precision of the existing high-altitude operation robots, the present invention proposes a terminal pose accuracy compensation method for long-span high-altitude operation composite robots, wherein the long-span high-altitude operation composite robot includes a long-span primary robot and a terminal High-precision small robot in two parts

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