Research on Pose Tracking of Hydraulic Hoist Oil Cylinder Cleaning Robot Based on Automatic Distance Measurement
Aimed at the inaccurate tracking results at the end of the pose due to sole consideration of direction information and no regard to abnormalities when current robot is carrying out cleaning work,the pose tracking technology of hydraulic hoist cylinder cleaning robot based on automatic ranging is studied.With full consideration of the changing posture of the cleaning robot during cleaning,the laser tracker is used to track the layout.The dynamic characteristics of the robot are extracted,and the attitude angle of the pitch axis and the forward displacement of the robot are calculated.Based on this,the mathematical model of the cleaning robot posture tracking is constructed.The automatic ranging method is used for position and attitude tracking to solve the problem of non systematic error without corresponding amplitude markers.By compensating each angle of the robot,the end pose error of the robot is minimized.The simulation results show that the motion trajectory of this method is basically consistent with the actual one and the tracked end pose coordinates confirm to the actual coordinate pose.
万方数据
维普
