Positioning error compensation method of coal machine equipment airborne operating arm based on piecewise linear regression

Abstract

Aiming at the problem of positioning error compensation of coal machine equipment airborne operating arm, a method of positioning error compensation based on piecewise linear regression was proposed.The forward and reverse kinematics equations were established based on the kinematics analysis of a typical airborne multi-joint operating arm of coal machine equipment.The fixed Ш-type running path of the operating arm was designed based on the three working positions.The position information of multiple positions in the same path was collected many times.The measurement value and target value were analyzed.The target value was corrected to realize error compensation.The experimental results show that the method of piecewise linear regression can reduce the root mean square error in x, y and z directions to less than 100 mm, and the absolute value error to less than 100 mm, which can meet the requirement of error within 100 mm.

Keywords

• multi-joint operating arm
• kinematics model
• piecewise linear regression
• error compensation