A wheeled train uncoupling robot with four degrees-of-freedom has been developed to replace humans in the uncoupling task in a marshalling field for designating freight cars to different destinations. To successfully achieve the task in practical applications, the positioning accuracy of the robot is an important issue to be considered. Based on the kinematic model using Denavit–Hartenberg method, the matrix differential method is applied here to establish the static position and orientation error model. The impact of parameter errors upon the static pose error of the uncoupling manipulator is analysed. The flexibility of the robot's key components is taken into consideration to analyse its impact on the position and orientation error of the manipulator. The position and orientation error compensation is developed by using input motion planning method to improve the pose accuracy of the robot. Additional motions are added to each joint of the robot such that the uncoupling manipulator can generate a corresponding tiny perturbation, which is used to eliminate the positioning error, ensuring the uncoupling action is completed successfully.
Position and orientation error analysis and its compensation for a wheeled train uncoupling robot with four degrees-of-freedom
IET Intelligent Transport Systems ; 9 , 2 ; 156-166
2015-03-01
11 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
static pose error , position control , orientation error compensation , wheels , perturbation techniques , uncoupling manipulator , mobile robots , degrees-of-freedom , orientation error model , motion planning method , pose accuracy , perturbation , flexible manipulators , railway rolling stock , freight handling , robot flexibility , matrix differential method , static position , freight cars , parameter errors , manipulator kinematics , compensation , matrix algebra , positioning accuracy , path planning , marshalling field , Denavit–Hartenberg method , wheeled train uncoupling robot , kinematic model
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