| This research topic originates from the"National 13th Five-Year Plan"nuclear energy development and scientific research project.Door-opening by manipulator autonomously is an indispensable part of nuclear emergency disposal.Usually the Door-opening task in the Nuclear emergency is realized by teleoperation,the operation precision can be coordinated manually.However,in order to realize the automatic opening of the manipulator,the positioning error caused by the size,assembly and other factors will be produced in this process,the joints of the manipulator are subjected to additional torque,and the end trajectory deviates from the predetermined value,which affects the success rate of the operation.so it is of great significance to study and compensate the positioning error of the industrial nuclear emergent robot to improve the operation performance of the robot.Based on the task of door-opening in the nuclear emergency in this paper,aiming at the problem that the positioning error of the robot in the process of automatic opening of the door affects the success rate of the operation,the basic model of manipulator and working environment is established by using SOLIDWORKS and MATLAB,and the trajectory planning of the opening process is carried out.The source affecting the end positioning error of the manipulator is analyzed by orthogonal test,and the significant distribution of the factors affecting the positioning error is obtained,and the error compensation based on the improved model is made by MATLAB for the end of the manipulator.According to the D-H parameters of MOTOMAN-MH6 robot,the forward and inverse kinematics model is established,and the working space of the manipulator is plotted and analyzed by Monte Carlo method,the correctness of the kinematics model of the manipulator is verified,and sampling points are determined in the working space by orthogonal test.It provides a platform for the subsequent analysis experiment of error source significance.This paper analyzes and expounds the characteristics and constraints of the open door operation under the nuclear emergency environment,and establishes the basic model of the open door based on touch perception.On the basis of the open door model,the opening track is designed,and the simulation experiment is carried out in MATLAB,the trajectory curve of the open door process and the angular displacement,angular velocity and angular acceleration curves of each joint are obtained,and the experimental results are analyzed and summarized in detail.Finally,according to the two typical door handle postures in the process of opening the door,this paper makes a comparative analysis from three aspects,and some suggestions for different application scenarios are given.The error transfer model of MH6 manipulator is deduced by using the expression of Manipulator posture error transfer,and as the objective function of orthogonal test,orthogonal table is designed according to the D-H parameters of robot joint,and the orthogonal experiment of 2~k factor is carried out,and the significant distribution of the influence of all motion parameters of manipulator on the end error is obtained.According to the significant distribution results,the influence factors in the error transfer model are allocated,then the error compensation of the end positioning error of the manipulator is made,and the superiority of the improved compensation algorithm is demonstrated by comparing with the classical N-R compensation algorithm.The relevant experimental indexes are designed,and the effect of opening the door is demonstrated by the physical experiment of the manipulator.The test results show that(1)the Operation model based on touch perception can replace the relevant visual equipment to complete the task,and(2)the angle factor near the base target has the greatest influence on the positioning error of the manipulator,and(3)The improved error compensation model based on the conclusion in(2)can achieve better compensation effect than the classical N-R compensation algorithm. |
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