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
railway rolling stock , parameter errors , manipulator kinematics , flexible manipulators , kinematic model , motion planning method , marshalling field , Denavit–Hartenberg method , wheels , perturbation techniques , matrix algebra , positioning accuracy , matrix differential method , uncoupling manipulator , orientation error compensation , mobile robots , wheeled train uncoupling robot , path planning , pose accuracy , perturbation , position control , compensation , freight handling , freight cars , robot flexibility , degrees‐of‐freedom , orientation error model , static pose error , static position
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