Position and orientation error analysis and its compensation for a wheeled train uncoupling robot with four degrees-of-freedom

Jianjun Yao; Shuang Gao; Guilin Jiang; Thomas L. Hill; Han Yu; Rui Xiao; Shuo Chen

Position and orientation error analysis and its compensation for a wheeled train uncoupling robot with four degrees-of-freedom

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Author(s): Jianjun Yao ¹ ; Shuang Gao ¹ ; Guilin Jiang ¹ ; Thomas L. Hill ² ; Han Yu ¹ ; Rui Xiao ¹ ; Shuo Chen ¹
- Affiliations: 1: College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, People's Republic of China;
  2: Department of Mechanical Engineering, University of Bristol, Bristol BS8 1TR, UK
Source: Volume 9, Issue 2, March 2015, p. 156 – 166
DOI: 10.1049/iet-its.2014.0027 , Print ISSN 1751-956X, Online ISSN 1751-9578

Received 05/02/2014, Accepted 21/04/2014, Revised 02/04/2014, Published 03/07/2014

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.

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Position and orientation error analysis and its compensation for a wheeled train uncoupling robot with four degrees-of-freedom

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