Accurate Control and Positioning of Anchor Drilling Robot Based on Whale Intelligent Optimization Algorithm
In order to solve the problem of large control and positioning error of anchor drilling robot,a precise control and posi-tioning method of anchor drilling robot based on whale intelligent optimization is proposed.According to the motion structure of the anchor drilling robot,the motion range of each joint is calibrated,and the motion mathematical model of the anchor drilling robot is established.It analyzes the causes of forward and backward control errors of anchor drilling robot,and calculates the dis-tance difference between forward and backward control.Based on the fractional calculus controller to control the positioning er-ror,the whale intelligent optimization method is used to find the optimal control parameters,search the individual and the opti-mal solution vector,and obtain the optimal control positioning results through the iterative optimization of spatial dimension mapping to achieve accurate control positioning.The test results show that the proposed method can ensure that the control error it-eration speed of the anchor drilling robot is fast and the error is small,and can further improve the accuracy of anchor drilling and excavation.
NETL
NSTL
万方数据
维普
