Research On Calibration And Motion Characteristics Of Construction Robots

At present,construction industry in China is developed constantly,however it always depends on workers.There are many factors affected construction process such as complex environment,natural climate,safety accidents and construction efficiency.In response to this phenomenon,this paper has carried out research on construction robots specifically applied to the built environment,which has practical significance for improving construction efficiency and quality,reducing safety accident rate and improving the intelligence of China’s construction industry.Robot calibration is one of the key technologies to improve the accuracy of robot control.Measurement methods are important factors that restrict its development.Robot kinematic calibration is the premise of robot control and an important factor in improving robot control accuracy.The motion characteristics of construction robots are not limited to inverse kinematics and trajectory planning.The study of motion characteristics can determine the working performance and motion space of robots,which is an important research content of robot control.Firstly,this paper studies the research status of construction robots at home and abroad,and determines the research content of this paper through the understanding of robot performance research.After that,the related theories of robot kinematics calibration are analyzed.The kinematics modeling of the construction robot is carried out,and the forward and inverse kinematics solution and the Jacobian matrix are calculated,which provides the basis for the later calibration and trajectory planning.Secondly,in the research of robot calibration,this paper puts forward the shortcomings of traditional modeling methods,establishes a closed kinematic chain,and builds a two-machine DH model based on this actual situation.And then,the force-free control plan of robot kinematics calibration is proposed.This method proves that the calibration efficiency and accuracy can be improved by experiments.Thirdly,this thesis studies the related content of robot inverse kinematics and proposes a new robot inverse kinematics solution method.The method is based on the GAN neural network,and the calculated positive solution of the robot is taken as the training sample,and the mapping of the end pose to the joint position of the robot is obtained through the established GAN network model.Finally,using the Monte Carlo method,the robot motion space is calculated,and the trajectory planning simulation of the building robot is carried out in the matlab environment,which verifies the rationality of the robot structure.This lays the foundation for subsequent dynamic analysis and dynamic design of the robot structure.In order to verify the validity of the calibration method proposed in this paper and the feasibility of the inverse kinematics solution based on GAN network,this paper takes the elfin-5 type construction robot of Han’s robot co.,Ltd.as the research object.According to the experimental data,the relevant conclusions are drawn and the end trajectory is planned.The motion characteristics of construction robot are studied.