关键词: 锚杆台车, 运动学模型, 机器视觉, 柔度误差检测, 误差补偿模型

Abstract: The manual positioning of bolting Jumbo has the disadvantages of low efficiency and low accuracy. In order to improve the positioning accuracy and realize the automatic construction, starting from the positioning error compensation of the boom, a deformation measurement method based on machine vision was proposed to obtain the compliance error of the boom based on the DH kinematics model. The parameter error of the boom was obtained by total station instrument. The kinematic model of the positioning error compensation was established. The Newton Raphson method and the gradient projection method were used to establish the iterative method to find the arm position of the joint value by two inverse solutions. The research results show that the measurement error of the compliance error detection method is kept at about 0． 010 m. When the boom is positioned based on the error compensation model, the measured end positioning error is less than 0． 050 m, which meets the actual positioning requirements of the project. The boom positioning method proposed in this study has been successfully applied to the boom positioning system of bolting Jumbo, and it shows a good application effect in practical engineering.

Key words: bolting jumbo, kinematics model, machine vision, compliance error detection, error compensation model