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Study on error compensation technology for manipulator arm of rock drilling rig

In order to improve the positioning accuracy of the boom end of the dual-arm rock drilling rig, first, the boom structure was simplified. A kinematic model from the end of the boom to the geodetic coordinate system was established. After that, the flexible deformation analysis and calculation of the main boom and the propelling beam were carried out. A parameter error model that couples the positioning conversion error and the flexible deformation error of the car body was established. A self-organizing genetic algorithm was proposed. The probability of mutation changed periodically. The mutation probability changed periodically to avoid falling into the local optimum. The fitness function comprehensively considered the errors of the root of the main boom, the front end of the main boom and the end of the drill boom to identify the optimal joint parameter errors. Finally, a total station was used to observe the key position coordinates of the drill boom and collect experimental data to verify the effectiveness of the proposed algorithm. The research results show that: compared with the average position error before error compensation, the root error of the main boom is reduced by 21.06%, the front end error of the main boom is reduced by 86.41%, and the end error of the boom is reduced by 80.43%, which effectively reduces the positioning error of the whole boom.