Research on Decoupling Control of Double Triangle Manipulator Arm of Rock Drilling Robot

In order to realize the precise motion control of the double-triangle manipulator arm of the rock drilling robot, the decoupling analysis of the double-triangle manipulator is carried out. Firstly, under the condition that the angles of each joint are known, the mathematical models of the length of each cylinder are established by the geometric method and the coordinate transformation method, and the results obtained by the two methods are compared and verified, which verifies that the mathematical model established in this paper is accurate, and shows that the decoupling analysis of the manipulator arm by the geometric method has advantages in the complexity of the model, the complexity of the analysis process, and the practicability of the control process. Finally, the three-dimensional model of the manipulator is established, and the correctness of the mathematical model established in this paper is further verified by simulation experiments, and the decoupling control of the double-triangle manipulator arm of the rock drilling robot is realized.