Loader arm modeling method, device, equipment and storage medium

Abstract

The application provides a loader arm modeling method, device, equipment and storage medium, and relates to the technical field of loaders. The method comprises the following steps: constructing an initial conversion relationship between a measurement angle of a tilt angle sensor and a modeling angle and an initial coordinate expression of a target position point on a loader arm; obtaining displacement amounts of the target position point in any two postures; obtaining unknown parameters in the initial conversion relationship and the initial coordinate expression according to the displacement amounts of the target position point in any two postures and the initial coordinate expression of the target position point on the loader arm, obtaining a target conversion relationship and a target coordinate expression; and establishing a loader arm model according to the target conversion relationship, the target coordinate expression and tilt angle data collected by the tilt angle sensor. The loader arm modeling method eliminates errors between a measurement angle of a tilt angle sensor and a modeling angle of a loader, the obtained loader arm model is consistent with an actual posture of a loader arm, and the accuracy of establishing a loader arm model is improved.

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