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

Jia Yunhong

doi:10.19606/j.cnki.jmst.2020.06.008

Volume 5 Issue 6

Dec. 2020

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Jia Yunhong, . Positioning error compensation method of coal machine equipment airborne operating arm based on piecewise linear regression[J]. Journal of Mining Science and Technology, 2020, 5(6): 655-661. doi: 10.19606/j.cnki.jmst.2020.06.008

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

doi: 10.19606/j.cnki.jmst.2020.06.008

Jia Yunhong¹²,

¹School of Mechanical Electronic & Information Engineering,China University of Mining & TechnologyBeijing,Beijing 100083,China;²TaiYuan Research Institute,China Coal Technology Engineering Group,Taiyuan Shanxi 030006,China

Publish Date: 2020-12-31

Abstract

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.
- multijoint operating arm,
- kinematics model,
- piecewise linear regression,
- error compensation

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References(32)

References

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

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