Research on slipping-pattern recognition and positioning error compensation of wheeled robot

2021 ◽  
Vol 92 (8) ◽  
pp. 085107
Author(s):  
Yanchao Chen ◽  
Chunhua Ren ◽  
Hao Liu ◽  
Chenyang Gu
Keyword(s):  
Pattern Recognition ◽  
Error Compensation ◽  
Positioning Error ◽  
Wheeled Robot

scholarly journals GPS Positioning Error Compensation Based on Kalman Filtering

2021 ◽  
Vol 1920 (1) ◽  
pp. 012088
Author(s):  
Wenjiu Zhu ◽  
Jie Hou ◽  
Zhengqiong Liu ◽  
Zhizhong Ding
Keyword(s):  
Kalman Filtering ◽  
Error Compensation ◽  
Positioning Error ◽  
Gps Positioning

scholarly journals Simultaneous Measurement Method and Error Analysis of the Six Degrees-of-Freedom Motion Errors of a Rotary Axis

2018 ◽  
Vol 8 (11) ◽  
pp. 2232 ◽  
Author(s):  
Chuanchen Bao ◽  
Qibo Feng ◽  
Jiakun Li
Keyword(s):  
Simultaneous Measurement ◽  
Error Compensation ◽  
Degrees Of Freedom ◽  
Translational Motion ◽  
Laser Interferometry ◽  
Positioning Error ◽  
Motion Error ◽  
Measuring Device ◽  
Six Degrees Of Freedom ◽  
Rotary Axis

Error measurement of a rotary axis is the key to error compensation and to improving motion accuracy. However, only a few instruments can measure all the motion errors of a rotary axis. In this paper, a device based on laser collimation and laser interferometry was introduced for simultaneous measurement of all six degrees-of-freedom motion errors of a rotary axis. Synchronous rotation of the target and reference rotary axes was achieved by developing a proportional–integral–derivative algorithm. An error model for the measuring device was established using a homogeneous transformation matrix. The influences of installation errors, manufacturing errors, and error crosstalk were studied in detail, and compensation methods for them were proposed. After compensation, the repeatability of axial and radial motion errors was significantly improved. The repeatability values of angular positioning error and of tilt motion error around the y axis and x axis were 28.0″, 2.8″, and 3.9″. The repeatability values of translational motion errors were less than 2.8 μm. The comparison experiments show that the comparison errors of angular positioning error and tilt motion error around the y axis were 2.3″ and 2.9″, respectively. These results demonstrate the effectiveness of our method and the error compensation model.

scholarly journals Research on Visualization and Error Compensation of Demolition Robot Attachment Changing

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2428 ◽  
Author(s):  
Qian Deng ◽  
Shuliang Zou ◽  
Hongbin Chen ◽  
Weixiong Duan
Keyword(s):  
Coordinate System ◽  
Coordinate Transformation ◽  
Error Compensation ◽  
Compensation Method ◽  
Positioning Error ◽  
Nuclear Facility ◽  
Reference Coordinate System ◽  
Accuracy Requirement ◽  
Docking Accuracy ◽  
Changing Process

Attachment changing in demolition robots has a high docking accuracy requirement, so it is hard for operators to control this process remotely through the perspective of a camera. To solve this problem, this study investigated positioning error and proposed a method of error compensation to achieve a highly precise attachment changing process. This study established a link parameter model for the demolition robot, measured the error in the attachment changing, introduced a reference coordinate system to solve the coordinate transformation from the dock spot of the robot’s quick-hitch equipment to the dock spot of the attachment, and realized error compensation. Through calculation and experimentation, it was shown that the error compensation method proposed in this study reduced the level of error in attachment changing from the centimeter to millimeter scale, thereby meeting the accuracy requirements for attachment changing. This method can be applied to the remote-controlled attachment changing process of demolition robots, which provides the basis for the subsequent automatic changing of attachments. This has the potential to be applied in nuclear facility decommissioning and dismantling, as well as other radioactive environments.

scholarly journals A Positioning Error Compensation Method for a Mobile Measurement System Based on Plane Control

Sensors ◽  
2020 ◽  
Vol 20 (1) ◽  
pp. 294
Author(s):  
Bo Shi ◽  
Fan Zhang ◽  
Fanlin Yang ◽  
Yanquan Lyu ◽  
Shun Zhang ◽  
...  
Keyword(s):  
Measurement System ◽  
Error Compensation ◽  
Point Cloud ◽  
Satellite System ◽  
Compensation Method ◽  
Positioning Error ◽  
Signal Loss ◽  
Middle Point ◽  
Existing Building ◽  
Mobile Measurement

Global navigation satellite system (GNSS)/inertial navigation system (INS) navigation technology is one of the core technologies in a mobile measurement system and can provide real-time geo-referenced information. However, in the environment measurements, buildings cover up the GNSS signal, causing satellite signals to experience loss-of-lock. At this time errors of INS independent navigation accumulate rapidly, so it cannot meet the needs of the mobile measurement system. In this paper, a positioning error compensation method based on plane control is proposed by analyzing the error characteristics of position and orientation caused by satellite signal loss-of-lock in the urban environment. This method control uses planar features and the laser point cloud positioning equation to establish an adjustment model that ignores the influence of the attitude error and finds the positioning error at the middle point of the GNSS signal loss-of-lock time period, and then compensates for the error at other points by using the characteristics of the positioning error. The experimental results show that the accuracy of the compensated laser point cloud has been significantly improved, and the feasibility of the method is verified. Meanwhile, the method can rely on the existing building plane so the method is adaptable and easy to implement.

Positioning Error Compensation for Machining Center Based on Spline Interpolation

2012 ◽  
Vol 472-475 ◽  
pp. 3029-3034
Author(s):  
Peng Li ◽  
Ying Hu ◽  
Zi Ma
Keyword(s):  
Error Compensation ◽  
Laser Interferometer ◽  
Spline Interpolation ◽  
Machining Process ◽  
Accuracy Evaluation ◽  
Positioning Error ◽  
Positioning Errors ◽  
Machining Center ◽  
Compensation Function ◽  
Manual Correction

Related to the machining precision, especially for the middle and low end machining center, the positioning error is often considered as a major factor, which can be traditionally decreased by the pitch compensation function integrated in the CNC system. However, the function is just founded on that all of positioning errors remain constant in the machining process, and it is difficulty to meet the compensation needs in different machining condition. At the same time, it involves a mass of parameters that need professional manual correction. Therefore, the software error compensation method is put forward. Firstly, based on cubic spline interpolation, the error compensation model is designed through the processing of positioning error which is collected by the laser interferometer. Secondly, with the characteristics of G codes, the database is established for error compensation, which can effectively correct different machining G codes with enough error information. Finally, by the experiment and accuracy evaluation, results show that after the positioning error of machining center is compensated by the presented scheme, its precision is improved obviously.

Thermal Error Analysis and Compensation Technology for High Precision Aspheric Measuring Platform

2013 ◽  
Vol 712-715 ◽  
pp. 1571-1575
Author(s):  
Feng Yang ◽  
Qia Heng Tang ◽  
Yin Biao Guo
Keyword(s):  
Error Analysis ◽  
High Precision ◽  
Heat Balance ◽  
Error Compensation ◽  
Thermal Deformation ◽  
Thermal Error ◽  
Positioning Error ◽  
Compensation Model ◽  
Balance State ◽  
Thermal Error Compensation

In this paper, a thermal error analysis and compensation method for a high precision aspheric measuring platform driven by a linear motor system is presented. After analyzing the heat source of thermal deformation, the thermal deformation of guide is selected to be object, and the thermal analysis method of guide in heat balance state is proposed. According to the motor temperature at different positions, the thermal error curve of guide is obtained through simulation. Modeling the global positioning error of measuring platform and the compensation model of thermal error using polynomial fitting, the thermal error compensation experiments is implemented by applying compensation system of measuring platform's controller. The experimental results show that the maximum positioning error in heat balance state is reduced from 1.5μm to 0.7μm, which verify the validity of thermal error compensation model.

Sign in / Sign up

Export Citation Format

Share Document