基于无迹卡尔曼滤波算法的喷涂机器人末端位姿补偿系统  

End Pose Compensation System of Spraying Robots Based on Unscented Kalman Filter Algorithm

作　　者：丁江 崔家旭 左启阳[2,3] 陈海伦 周伟 何凯[2,3] Ding Jiang;Cui Jiaxu;Zuo Qiyang;Chen Hailun;Zhou Wei;He Kai(School of Mechanical Engineering,Guangxi University,Nanning 530004,China;Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China;Shenzhen Key Laboratory of Precision Engineering,Shenzhen 518055,China)

机构地区：[1]广西大学机械工程学院,广西南宁530004 [2]中国科学院深圳先进技术研究院,广东深圳518055 [3]深圳市精密工程重点实验室,广东深圳518055

出　　处：《机械传动》2024年第1期8-13,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(51905113);广西自然科学基金项目(2021GXNSFAA220095);NSFC-深圳机器人基础研究中心项目(U2013204)。

摘　　要：喷涂建筑机器人在进行建图时无法将地面平整度的信息包含在地图中。当机器人按照所建地图运行时,由于地面信息的缺失,喷涂建筑机器人工作末端的喷涂夹具无法与墙面平行。为补偿喷涂夹具相对于墙面之间的位姿误差,提出一种基于无迹卡尔曼滤波的多传感器融合的喷涂夹具位姿补偿方法:以位移测量传感器测得的数据构建夹具位姿的状态方程,以陀螺仪测得的数据构建夹具位姿测量方程;利用无迹卡尔曼滤波算法获得夹具姿态的最优估计并将其传递给机器人,从而实现对喷涂夹具位姿误差的补偿。搭建实验平台验证了误差补偿系统的可行性。实验结果表明,误差补偿后的喷涂夹具相对于墙面之间的角度误差减小至0.005°。The spraying construction robot is unable to include information about ground leveling in the map when it is created,and when the robot operates according to the built map,the spraying clamping fixture at the working end of the spraying construction robot can not be parallel to the wall due to the lack of ground information.In order to compensate the posture error of the spraying fixture relative to the wall,a multi-sensor fusion method is proposed based on the unscented Kalman filter to compensate the posture of the spraying fixture.The state equation of the fixture posture is constructed from the data measured by the displacement measurement sensor,the equation of fixture posture measurement is constructed from the data measured by the gyroscope,and the optimal estimation of the fixture posture is obtained by using the unscented Kalman filter algorithm and transferring them to the robot,so as to achieve the purpose of compensating the posture error of the spraying fixture.Finally,the experimental platform is built to verify the feasibility of the error compensation system.The experimental results show that the positional error between the spraying fixture and the wall after error compensation is reduced to 0.005°.

关 键 词：无迹卡尔曼滤波 位移测量传感器 陀螺仪 误差补偿 喷涂夹具 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TU65[自动化与计算机技术—控制科学与工程]