矿用巡检机器人的位姿误差补偿研究  

Research on Pose Error Compensation of Mine Inspection Robot

作　　者：韩鹏程 Han Pengcheng(Shanxi Tiandi Coal Machinery Equipment Co.,Ltd.,Taiyuan 030006,China)

机构地区：[1]山西天地煤机装备有限公司,太原030006

出　　处：《煤矿机械》2023年第8期68-72,共5页Coal Mine Machinery

基　　金：国家重点研发计划(2020YFB1314003)。

摘　　要：介绍了一款矿用巡检机器人,机器人在井下巡检过程中行走在淤泥地面,足端会产生一定的位姿误差,位姿误差直接影响到了机器人的定位精度,而定位精度直接影响到了机器人的工作质量,因此需要对其进行位姿误差补偿研究以提高机器人足端的定位精度。建立了几何误差模型与非几何误差模型,并将几何误差与非几何误差进行叠加建立综合误差,利用输入规划法对各个阶段的综合误差进行了误差补偿,通过仿真来对误差补偿前后进行分析来验证其补偿效果,达到提高机器人定位精度的目地。A mining inspection robot was introduced.The robot walks on the silt ground during the underground inspection,the foot end will produce a certain pose error,the pose error directly affects the positioning accuracy of the robot,and the positioning accuracy directly affects the working quality of the robot,so it is necessary to study the pose error compensation to improve the positioning accuracy of the foot end of the robot.The geometric error model and non-geometric error model were established,and the geometric error and non-geometric error were superimposed to establish the comprehensive error,the input planning method was used to compensate the comprehensive error of each stage,and the compensation effect was verified by analyzing the error compensation before and after through simulation,so as to improve the positioning accuracy of the robot.

关 键 词：淤泥地面 位姿误差 定位精度 误差补偿 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]