Virtual-Joints-Based Error Compensating Algorithms for the Manipulator of Tunnel Rock-Drilling Robot

Tests showed that large position and pose errors would generate during the boring orientation of Rock-drilling robot, due to kinematic pairs clearances, flexibility, sensor errors, control errors and other algorithmic errors. As it´s difficult to predict and compensate orientation errors by Denavit-Hartenberg method, the concept of virtual joints is introduced in this paper. The position and pose error is virtualized to be a rigid joint transformation, which make it simplified to formulate the transformation matrix, and the satisfactory results have been obtained.