End Pose Compensation System of Spraying Robots Based on Unscented Kalman Filter Algorithm
The spraying construction robot is unable to include information about ground leveling in the map when it is created, and when the robot operates according to the built map, the spraying clamping fixture at the working end of the spraying construction robot can not be parallel to the wall due to the...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.01.002 |
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| _version_ | 1841546895838674944 |
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| author | Ding Jiang Cui Jiaxu Zuo Qiyang Chen Hailun Zhou Wei He Kai |
| author_facet | Ding Jiang Cui Jiaxu Zuo Qiyang Chen Hailun Zhou Wei He Kai |
| author_sort | Ding Jiang |
| collection | DOAJ |
| description | The spraying construction robot is unable to include information about ground leveling in the map when it is created, and when the robot operates according to the built map, the spraying clamping fixture at the working end of the spraying construction robot can not be parallel to the wall due to the lack of ground information. In order to compensate the posture error of the spraying fixture relative to the wall, a multi-sensor fusion method is proposed based on the unscented Kalman filter to compensate the posture of the spraying fixture.The state equation of the fixture posture is constructed from the data measured by the displacement measurement sensor， the equation of fixture posture measurement is constructed from the data measured by the gyroscope, and the optimal estimation of the fixture posture is obtained by using the unscented Kalman filter algorithm and transferring them to the robot, so as to achieve the purpose of compensating the posture error of the spraying fixture. Finally, the experimental platform is built to verify the feasibility of the error compensation system. The experimental results show that the positional error between the spraying fixture and the wall after error compensation is reduced to 0.005°. |
| format | Article |
| id | doaj-art-81ee772150ed4e77a4c8891744b2cc1d |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-81ee772150ed4e77a4c8891744b2cc1d2025-01-10T15:02:15ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-01-014881348026025End Pose Compensation System of Spraying Robots Based on Unscented Kalman Filter AlgorithmDing JiangCui JiaxuZuo QiyangChen HailunZhou WeiHe KaiThe spraying construction robot is unable to include information about ground leveling in the map when it is created, and when the robot operates according to the built map, the spraying clamping fixture at the working end of the spraying construction robot can not be parallel to the wall due to the lack of ground information. In order to compensate the posture error of the spraying fixture relative to the wall, a multi-sensor fusion method is proposed based on the unscented Kalman filter to compensate the posture of the spraying fixture.The state equation of the fixture posture is constructed from the data measured by the displacement measurement sensor， the equation of fixture posture measurement is constructed from the data measured by the gyroscope, and the optimal estimation of the fixture posture is obtained by using the unscented Kalman filter algorithm and transferring them to the robot, so as to achieve the purpose of compensating the posture error of the spraying fixture. Finally, the experimental platform is built to verify the feasibility of the error compensation system. The experimental results show that the positional error between the spraying fixture and the wall after error compensation is reduced to 0.005°.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.01.002Unscented Kalman filterDisplacement measurement sensorGyroscopeError compensationSpraying fixture |
| spellingShingle | Ding Jiang Cui Jiaxu Zuo Qiyang Chen Hailun Zhou Wei He Kai End Pose Compensation System of Spraying Robots Based on Unscented Kalman Filter Algorithm Jixie chuandong Unscented Kalman filter Displacement measurement sensor Gyroscope Error compensation Spraying fixture |
| title | End Pose Compensation System of Spraying Robots Based on Unscented Kalman Filter Algorithm |
| title_full | End Pose Compensation System of Spraying Robots Based on Unscented Kalman Filter Algorithm |
| title_fullStr | End Pose Compensation System of Spraying Robots Based on Unscented Kalman Filter Algorithm |
| title_full_unstemmed | End Pose Compensation System of Spraying Robots Based on Unscented Kalman Filter Algorithm |
| title_short | End Pose Compensation System of Spraying Robots Based on Unscented Kalman Filter Algorithm |
| title_sort | end pose compensation system of spraying robots based on unscented kalman filter algorithm |
| topic | Unscented Kalman filter Displacement measurement sensor Gyroscope Error compensation Spraying fixture |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.01.002 |
| work_keys_str_mv | AT dingjiang endposecompensationsystemofsprayingrobotsbasedonunscentedkalmanfilteralgorithm AT cuijiaxu endposecompensationsystemofsprayingrobotsbasedonunscentedkalmanfilteralgorithm AT zuoqiyang endposecompensationsystemofsprayingrobotsbasedonunscentedkalmanfilteralgorithm AT chenhailun endposecompensationsystemofsprayingrobotsbasedonunscentedkalmanfilteralgorithm AT zhouwei endposecompensationsystemofsprayingrobotsbasedonunscentedkalmanfilteralgorithm AT hekai endposecompensationsystemofsprayingrobotsbasedonunscentedkalmanfilteralgorithm |