基于自控测距的液压启闭机油缸清洁机器人位姿跟踪研究  

Research on Pose Tracking of Hydraulic Hoist Oil Cylinder Cleaning Robot Based on Automatic Distance Measurement

作　　者：刘晓东 卜晓珊 吴增众 LIU Xiaodong;BU Xiaoshan;WU Zengzhong(South-to-North Water Transfer Middle Route Information Technology Co.,Ltd.,Beijing 100070,China)

机构地区：[1]南水北调中线信息科技有限责任公司,北京100070

出　　处：《机械制造与自动化》2024年第1期228-231,265,共5页Machine Building & Automation

摘　　要：针对当前机器人开展清洁工作时只考虑方向信息而未考虑异常情况,导致位姿末端跟踪结果不精准的问题,研究基于自控测距的液压启闭机油缸清洁机器人位姿跟踪技术。充分考虑到清洁机器人清洁过程中位姿不断变化,使用激光跟踪仪进行跟踪布局。提取机器人动态特征,计算俯仰轴姿态角、机器人前进位移,以此为依据构建清洁机器人位姿跟踪数学模型。使用自控测距法进行位姿跟踪,解决无相应幅值标志物条件下的非系统误差问题。通过对机器人各个角度的补偿,实现了机器人末端位姿误差的最小化。由仿真结果可知:该方法运动轨迹与实际轨迹基本一致,所跟踪的末端位姿坐标与实际坐标位姿一致。Aimed at the inaccurate tracking results at the end of the pose due to sole consideration of direction information and no regard to abnormalities when current robot is carrying out cleaning work,the pose tracking technology of hydraulic hoist cylinder cleaning robot based on automatic ranging is studied.With full consideration of the changing posture of the cleaning robot during cleaning,the laser tracker is used to track the layout.The dynamic characteristics of the robot are extracted,and the attitude angle of the pitch axis and the forward displacement of the robot are calculated.Based on this,the mathematical model of the cleaning robot posture tracking is constructed.The automatic ranging method is used for position and attitude tracking to solve the problem of non systematic error without corresponding amplitude markers.By compensating each angle of the robot,the end pose error of the robot is minimized.The simulation results show that the motion trajectory of this method is basically consistent with the actual one and the tracked end pose coordinates confirm to the actual coordinate pose.

关 键 词：自控测距 清洁机器人 位姿跟踪 补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]