基于SLAM的高空作业机械臂末端定位与关节姿态估计方法  

Methods for End-effector Localization and Joint Attitude Estimation in Aerial Manipulator Arms Based on SLAM

作　　者：艾佳军 张翔鸿 郑立 冯玉 唐旭明 郭祥 董二宝 AI Jiajun;ZHANG Xianghong;ZHENG Li;FENG Yu;TANG Xuming;GUO Xiang;DONG Erbao(School of Engineering Science,University of Science and Technology of China;Institute of Advanced Technology,University of Science and Technology of China;State Grid Anhui Electric Power Company Electric Power Research Institute;State Grid Anhui Electric Power Company Huainan Power Supply Company)

机构地区：[1]中国科学技术大学工程科学学院 [2]中国科学技术大学先进技术研究院 [3]国网安徽省电力有限公司电力科学研究院 [4]国网安徽省电力有限公司淮南供电公司

出　　处：《仪表技术与传感器》2025年第2期122-126,共5页Instrument Technique and Sensor

基　　金：国家重点研发计划“智能机器人”重点专项(2018YFB1307400)。

摘　　要：高空作业机械臂由于关节间隙较大和臂展结构弯曲变形严重,难以通过关节位姿测量和正运动学计算实现机械臂末端的实时精确定位。针对这一难题,提出了一种基于激光SLAM的高空作业机械臂末端定位与关节姿态估计方法。首先,通过激光雷达扫描环境点云并构建地图;然后基于SLAM重定位获取机械臂末端实时位姿;同时结合机械臂运动学逆解,估计关节姿态,为机械臂控制提供实时角度反馈。实验结果表明,采用该方法实现的高空作业机械臂末端位置精度约为0.1 m,姿态精度约为0.9°,相对正运动学定位方法精度提升超300%,为高空作业机械臂等大型工程机械的末端定位与关节姿态估计提供了一种有效手段。Due to large joint gaps and significant arm elongation bending deformation,precise real-time localization of the end-effector in aerial manipulator arms is challenging through joint position measurements and forward kinematics calculations.To address this issue,a method based on laser SLAM for end-effector localization and joint attitude estimation of aerial manipulator arms was proposed.Initially,an environmental map was constructed through LIDAR scanning.Then,the real-time pose of the ma-nipulator arm's end-effector was acquired based on SLAM relocalization.Concurrently,the joint attitudes were estimated by combi-ning the inverse kinematics,providing real-time angular feedback for arm control.Experimental results demonstrated that the method achieved an end-effector positional accuracy of 0.1 m and an attitude accuracy of 0.9°,representing an accuracy improve-ment of over 300%compared to traditional forward kinematics localization methods.This provides an effective means for end-ef-fector localization and joint attitude estimation in aerial manipulator arms and other heavy engineering machinery.

关 键 词：高空作业机械臂 大型工程机械 激光SLAM 末端定位 姿态估计 运动学 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]