Pose Accuracy of a Mobile Robotic System Mounted on Scaffold Structures

B. W. C. Sedore ； A. G. Dharmawan ； G. S. Soh ； S. H. Foong K. Otto

《Proceedings of the 14th IFToMM World Congress》 14th-3 (2015/10) Pp. 282-288

https://doi.org/10.6567/IFToMM.14TH.WC.OS13.054

並列摘要

Industrial robots can be applied to elevated workcell. For example in the welding of very large structures such as ships and oil rigs. Elevating the robot to the desired location may be accomplished by placing the robot arm on a supporting structure. A lightweight modular structure such as scaffolding is desirable as it is portable, can be quickly erected, and can be customized to fit the work environment and the workpiece. However, this type of structure can flex under the weight of the robot, introducing pose error at the robot tool tip. This paper outlines a quasi-static kinematic analysis procedure to identify this error throughout the robot workspace, specifically for a robot arm mounted on a four-wheeled platform supported by two parallel rails. A general analysis approach is described, followed by an example application of vertical seam welding. The results from this analysis can be used as an error map to inform the trajectory compensation requirements of an end-effector during motion planning.

並列關鍵字

Kinematics ； error model ； dual quaternion ； mobile robot