摘要
为了使凿岩机械臂末端能够保持期望初始姿态且平稳、准确地移动至目标位置,提出一种基于末端姿态约束的液压凿岩机械臂运动控制方法。首先,基于雅可比矩阵建立机械臂末端广义速度与关节速度关系;然后,分析驱动油缸结构并采用全微分方法建立机械臂关节速度与油缸伸缩速度的函数关系,从而基于末端姿态不变的约束,建立机械臂末端广义速度与油缸伸缩速度的对应关系;最终通过控制器给定相应电信号直接控制各油缸伸缩速度完成对姿态约束下凿岩机械臂末端广义速度的控制。使用MATLAB和V-REP(Virtual Robot Experimentation Platform)软件分别对凿岩机械臂末端速度与关节速度关系以及三角油缸和梁摆动油缸伸缩量与关节角度对应关系进行验证,确保计算过程的正确性。通过现场实验得出数据表明:在末端姿态约束下控制凿岩机械臂保持某一期望初始姿态运动不同时间到达不同位置,凿岩机械臂末端最大姿态角偏差为0.42°,末端位置相对误差不超过0.41%,凿岩机械臂运动平稳,说明该运动控制方法可以在保证平稳运行前提下实现凿岩机械臂末端定位,从而满足工程实际需求。
In order to keep the desired initial posture and move to the target position smoothly and accurately,a motion control method of hydraulic rock drilling manipulator based on the end posture constraint is proposed in this paper.Firstly,the relationship between the generalized velocity of the end of the manipulator and the joint velocity was established based on the Jacobian matrix.Then,the structure of the driving cylinder was analyzed and the functional relationship between the joint velocity of the manipulator and the expansion velocity of the cylinder was established by the total differential method.Based on the constraint that the end attitude was unchanged,the corresponding relationship between the generalized velocity of the manipulator and the expansion velocity of the cylinder was established.Finally,the extension speed of each cylinder is directly controlled by the corresponding electrical signal given by the controller to control the generalized velocity of the end of the rock drilling manipulator under the attitude constraint.These experiments are conducted using MATLAB and V-REP(Virtual Robot Experimentation Platform)software to verify the relationship between the end velocity of the rock drilling manipulator and joint velocity,and the corresponding relationship between the extension of triangle cylinder and beam swing cylinder and joint Angle to ensure the correctness of the calculation process.The data obtained from the field experiment showed that:In terminal control drilling mechanical arm under constraints hold an expected initial posture movement time arrived at different position,drilling mechanical arm end attitude Angle deviation was 0.42°,largest terminal position relative error less than 0.41%,the smooth movement of mechanical arm drilling showed that the movement control method could be realized under the premise that guaranteed smooth running terminal positioning drilling mechanical arm,So as to met the actual needs of the project.
作者
刘阳
徐巧玉
贾广山
方梦娟
张正
LIU Yang;XU Qiao-yu;JIA Guang-shan;FANG Meng-juan;ZHANG Zheng(Mechatronics Engineering School,Henan University of Science&Technology,Luoyang 471000,China;Luoyang GINGKO Technology Co.,Ltd.,Luoyang 471000,China)
出处
《液压气动与密封》
2023年第9期11-18,共8页
Hydraulics Pneumatics & Seals
基金
国家自然科学基金(51205108)。
关键词
液压凿岩机械臂
姿态约束
雅可比矩阵
油缸伸缩量
hydraulic rock drilling manipulator
attitude constraint
jacobian matrix
cylinder expansion
