基于IGA的煤矿用机械臂位置校准方法  

Position Calibration Method of Coal Mine Manipulator Based on IGA

作　　者：鲍文亮 贾运红 Bao Wenliang;Jia Yunhong(CCTEG Taiyuan Research Institute Co.,Ltd.,Taiyuan 030032,China;Shanxi Tiandi Coal Mining Machinery Co.,Ltd.,Taiyuan 030032,China;China National Engineering Laboratory for Coal Mining Machinery,Taiyuan 030032,China)

机构地区：[1]中国煤炭科工集团太原研究院有限公司,太原030032 [2]山西天地煤机装备有限公司,太原030032 [3]煤矿采掘机械装备国家工程实验室,太原030032

出　　处：《煤矿机械》2024年第7期31-35,共5页Coal Mine Machinery

基　　金：国家重点研发计划资助项目(2020YFB1314003);山西省自然科学基金资助项目(201801D121189);山西省专利转化专项计划项目(202305001);山西天地煤机装备有限公司科研项目(M2023-QN20)。

摘　　要：针对煤矿用机械臂定位精度较低问题,提出了一种基于改进遗传算法(IGA)的机械臂校准方法。该方法利用煤矿用机械臂正向运动学模型计算空间位置,并采用激光跟踪仪测量空间位置,用计算和测量的多组位置值建立数据集。运动学模型位置误差函数是多元非线性函数,误差校准即最优解问题,采用自适应交叉概率阈值(PC)和自适应变异概率阈值(PM)结合精英主义的IGA求解运动学模型位置误差函数最优解。研究结果表明,基于运动学模型和IGA实现煤矿用机械臂位置校准,能够取得较高的定位精度,满足煤矿井下100 mm×100 mm规格锚网支护需要。Aiming at the low positioning accuracy of coal mine manipulator,a manipulator calibration method based on improved genetic algorithm(IGA)was proposed.In this method,the forward kinematics model of the coal mine manipulator was used to calculate the spatial position,the laser tracker was used to measure the spatial position,and the calculated and measured multi group position values were used to establish the dataset.The position error function of kinematic model was a multivariate nonlinear function,and error calibration was the optimal solution problem.IGA based on elitism and adaptive crossover probability threshold(PC)and adaptive mutation probability threshold(PM)was used to solve the optimal solution of the kinematic model position error function.The results show that the position calibration of coal mine manipulator was realized based on kinematics model and IGA.It can achieve high positioning accuracy and meet the requirements of 100 mm×100 mm mesh support in coal mine.

关 键 词：煤矿 正向运动学模型 IGA 参数辨识 

分 类 号：TD67[矿业工程—矿山机电] TP241[自动化与计算机技术—检测技术与自动化装置]