Research On Positioning Control Of Rock Drilling Robot Drilling Boom

The method of drilling and blasting method is widely used in underground mining and tunnel excavation.Rock-drilling robot with highly autonomous operation can effectively improve the working environment of semi-mechanized drilling,reduce the labor intensity and improve the efficiency of mining.The positioning accuracy and speed of the drilling boom are directly related to the burst precision of rock which influence the blast-hole procedure characteristic,working efficiency,dilution rate and utilization ratio of ores.It is one of the most important research subject in the field of rock-drilling robot.According to the narrow and tortuous working space,the redundant and joint coupling boom is generally equipped to ensure the flexibility,obstacle avoidance and operating performance of the rock-drilling robot,but at the same time brings out the complexity of positioning control and the inverse kinematics solving efficiency of the drilling boom is reduced.In order to improve the positioning accuracy and control efficiency of the drilling boom,this paper comes down to kinematics analysis,dynamic parameter identification and positioning error compensation of the rock-drilling robot drilling boom.The main research works are as follows:The D-H method is used to establish the kinematics model of the drilling boom,and the positive kinematics equation from the fuselage to the end effectors is obtained.The algorithm of crossover elite opposition-based particle swarm optimization(CEOPSO)is proposed to derive inverse kinematics solution of the drilling boom.The crossover operator is introduced into EOPSO.On the basis of maintaining the information exchange between the individual and the optimal solution,the global searching ability of the algorithm and the positioning efficiency of the drilling boom are improved by increasing the information exchange between the individual particles.The adaptive parameter control technologies of inertia weight and crossover probability are adopted to improve the global searching ability of algorithm and the positioning efficiency of the drilling boom.The simulation results show that the CEOPSO algorithm can get satisfied positioning accuracy of the drilling boom and stationary iterative process,which can improve the positioning control performance of the drilling boom effectively.It has better engineering application value.It is difficult to identify the parameters of the dynamic model of the drilling boom and the precision is low because of the huge structure of the drilling boom.The Newton-Euler method is adopted to establish the dynamics model of the drilling boom.In order to reduce the impact and vibration of joints during the identification process,the joint trajectory planning of joints is designed based on Fourier series.Simplified by step-by-step identification method,the theory identification is adopted to identify the basic dynamic parameters of drilling boom upon the CAD identification,and the dynamics model of drilling boom is established accurately.The position and pose errors are try to be formulized,which includes parameters error model and deformation error model.The parameters error model of the drilling boom is designed based on modified D-H method.The superposition method is accepted to solve the deflection deformation of the arm flexibility,the feeding beam flexibility and the positioning accuracy of the rotate/flip shaft.The virtual joint is introduced to simplify the deformation error model.The positioning error compensation model of drilling boom based on CEOPSO algorithm is proposed,and the position and pose of the drilling boom is fixed by correcting the compensation values into the joint variables.The simulations verify that this algorithm can improve the positioning precision of the drilling boom effectively.