ABSTRACT

Large-scale manipulators, such as the boom of a mobile concrete pump, typically rely on lightweight construction to maximize their operational range. As a result, significant elastic deformations occur during operation. Various automation and control applications require computationally fast and accurate mathematical models of the manipulator’s motion. In this work, a mathematical model for the boom of a mobile concrete pump with 5 individual joints is presented. This model takes into account the elastic bending in two directions and the torsion of the boom. To reach a high model accuracy, calibration is required. This is challenging due to the large dimension and the outdoor operation, which makes the accurate measurement of the boom position difficult. A camera-based measurement setup is proposed in this work that is tailored for the considered problem. It is shown by measurements that the model is able to achieve a high accuracy with rather small computational costs.

摘要

大型机械手，例如移动式混凝土泵的动臂，通常依靠轻型结构来最大化其操作范围。结果，在运行期间发生显着的弹性变形。各种自动化和控制应用需要计算速度快且准确的机械手运动数学模型。在这项工作中，提出了具有 5 个独立接头的移动式混凝土泵臂的数学模型。该模型考虑了两个方向的弹性弯曲和吊杆的扭转。为了达到较高的模型精度，需要进行校准。由于尺寸大且在室外操作，这使得臂架位置的准确测量变得困难，这具有挑战性。在这项工作中提出了一种基于相机的测量设置，该设置是为所考虑的问题量身定制的。测量表明，该模型能够以相当小的计算成本实现高精度。