Error correction algorithm for manipulator of wall climbing robot with both ends having magnetic adsorption

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Abstract

A wall climbing robot with both ends using magnetic adsorption is developed for on-site hydraulic turbine blade repairs. The magnetic mobile platform has a multiple degrees of freedom (DOF) manipulator and an end operating unit. The manipulator has 3 active and 3 passive joints, so the trajectory planning method for a given working path assumes a local curve where the end effector of the manipulator works on a plane. However, simulations for a sphere with a 1.5 m curvature show that the path error due to this assumption is larger than 5 mm. A correction algorithm to reduce the error transforms the error from Cartesian space to the joint space through a Jacobian matrix. Simulations show that the error can be reduced to less than 1 mm by this algorithm.

Keywords robot manipulator complicated unknown curve error analysis correction

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Issue Date: 15 February 2014

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	Jiajun LIU
	Zhenguo SUN
	Wenzeng ZHANG
	Qiang CHEN

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Jiajun LIU,Zhenguo SUN,Wenzeng ZHANG, et al. Error correction algorithm for manipulator of wall climbing robot with both ends having magnetic adsorption[J]. Journal of Tsinghua University(Science and Technology), 2014, 54(2): 185-190.

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http://jst.tsinghuajournals.com/EN/ OR http://jst.tsinghuajournals.com/EN/Y2014/V54/I2/185

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