Open AccessPosition and orientation error analysis and its compensation for a wheeled train uncoupling robot with four degrees‐of‐freedom
Author(s) -
Yao Jianjun,
Gao Shuang,
Jiang Guilin,
Hill Thomas L.,
Yu Han,
Xiao Rui,
Chen Shuo
Publication year - 2015
Publication title -
iet intelligent transport systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.579
H-Index - 45
eISSN - 1751-9578
pISSN - 1751-956X
DOI - 10.1049/iet-its.2014.0027
Subject(s) - robot , orientation (vector space) , kinematics , degrees of freedom (physics and chemistry) , position (finance) , control theory (sociology) , computer science , artificial intelligence , engineering , simulation , computer vision , control engineering , mathematics , physics , geometry , control (management) , finance , classical mechanics , quantum mechanics , economics
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.