Research On Trajectory Planning And Tracking Control Of Hydraulic Rock-drilling Robot Manipulator

Tunnel excavation is a very important and crucial construction project in modern transportation,hydropower,national defense and other large-scale infrastructure construction,which is difficult,costly and with poor working conditions.Hydraulic rock-drilling robot is one of the main equipments for drilling and blasting construction.The technological progress of rock-drilling robot directly promotes the improvement of tunnel construction level.Aiming at the deteriorating working environment and the shrinking of labor resources,the unmanned research of rock-drilling robot is imminent.Imported equipment is expensive,and there has been no successful application in China.The manipulator is the main functional component of the rock-drilling robot,and its trajectory control research is the basis of unmanned construction.Combined with the engineering practice,the kinematics,trajectory planning,trajectory tracking and trajectory control experiments of the rock-drilling robot manipulator are studied.The research contents mainly include:(1)The D-H coordinate system of the rock-drilling robot manipulator is established and the forward and inverse solution analysis of kinematics is performed.The working space of the manipulator is drawn through the visualization function of Matlab to judge whether the design structure of the manipulator meets the requirements of tunnel construction.In view of the multi-degree-freedom redundancy of the manipulator,combined with the actual working conditions of the rock-drilling robot,the inverse kinematics analysis of each joint of the manipulator is optimized.The simulation model of the manipulator is established by Adams software,and the kinematics simulation is carried out to verify the correctness of the forward and inverse kinematics algorithm.(2)A method of combining hydraulic power source matching and trajectory planning is proposed.Based on the inverse kinematics,the trajectories of straight lines and arcs in the Cartesian coordinate system are studied.The cubic polynomial,the fifth-order polynomial and the trajectory with parabola transition are studied in the joint coordinate system.Combined with the flow,power and oil consumption of the hydraulic system,the simulation model of the manipulator motion system was established using the AMESim software platform to confirm the optimal trajectory planning curve.(3)Aiming at the deviation of the intrinsic parameters of the electro-hydraulic servo system,the external disturbance and the uncertainty of the mechanical structure gap,the trajectory tracking control strategy based on the cascade ADRC is proposed.The extended state observer is used to estimate the intrinsic parameters and external load of the electro-hydraulic system,and a new interference suppression controller is designed for the uncertainty of the manipulator deflection and the deviation of the mechanical assembly.The stability of the system is proved by Lyapunov stability theory.The simulation results are based on the actual parameters.The simulation results show the effectiveness of the proposed method,and the comparison with the traditional feedforwardPIDalgorithm shows the superiority of the proposed method.(4)The hardware system of the manipulator trajectory control system is designed,and the trajectory motion control test is based on the real rock-drilling robot manipulator.The experimental results show that the proposed trajectory control method can realize the smooth and accurate trajectory movement of the manipulator,and its accuracy meets the construction accuracy requirements.It lays a foundation for the engineering application of the unmanned motion control of rock-drilling robot.