Research on Positioning Error Compensation of Rock Drilling Manipulator Based on ISBOA-BP Neural Network

Abstract

In order to solve the problem of the low end positioning accuracy of large hydraulic rock drilling robotic arms due to machining error and the working environment, this paper proposes an end positioning error compensation method based on an Improved Secretary Bird Optimization Algorithm (ISBOA) optimized Back Propagation (BP) neural network. Firstly, the good point set strategy is used to initialize the secretary bird population position to make the initial population distribution more uniform and accelerate the convergence speed of the algorithm. Then, the ISBOA is used to optimize the initial weights and biases of the BP neural network, which effectively overcomes the defect of the BP neural network falling into a local optimum. Finally, by establishing the mapping relationship between the joint value of the robot arm and the end positioning error, the error compensation is realized to improve the positioning accuracy of the rock drilling robot arm. The experimental results show that the average positioning error of the rock drilling robotic arm is reduced from 187.972 mm to 28.317 mm, and the positioning accuracy is improved by 84.94%, which meets the engineering requirements.

Keywords

• rock drilling robotic arm
• secretary bird optimization algorithm
• good point set
• BP neural network
• error compensation