Position and orientation error analysis and its compensation for a wheeled train uncoupling robot with four degrees‐of‐freedom. Issue 2 (1st March 2015)

• Record Type: Journal Article
• Authors: Yao, Jianjun; Gao, Shuang; Jiang, Guilin; Hill, Thomas L.; Yu, Han; Xiao, Rui; Chen, Shuo
• Is Part Of: IET intelligent transport systems. Volume 9:Issue 2(2015)
• Page Start: 156
• Page End: 166
• Publication Date: 2015-03-01
• Subjects: manipulator kinematics -- mobile robots -- wheels -- path planning -- position control -- flexible manipulators -- compensation -- perturbation techniques -- matrix algebra -- freight handling -- railway rolling stock; wheeled train uncoupling robot -- degrees‐of‐freedom -- marshalling field -- freight cars -- positioning accuracy -- kinematic model -- Denavit–Hartenberg method -- matrix differential method -- static position -- orientation error model -- parameter errors -- static pose error -- uncoupling manipulator -- robot flexibility -- orientation error compensation -- motion planning method -- pose accuracy -- perturbation; Intelligent transportation systems -- Periodicals; Electronics in transportation -- Periodicals; 388.31205
• DOI: 10.1049/iet-its.2014.0027
• Languages: English
• ISSNs: 1751-956X

Abstract

Abstract : 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.