Research on Visualization and Error Compensation of Demolition Robot Attachment Changing

Area of Science:

• Robotics
• Mechanical Engineering
• Automation

Background:

• Demolition robots require high-precision attachment changes for efficient operation.
• Remote control of attachment changing via camera presents significant accuracy challenges for operators.

Purpose of the Study:

• To investigate positioning errors in demolition robot attachment changing.
• To propose and validate an error compensation method for precise attachment changes.

Main Methods:

• Established a link parameter model for the demolition robot.
• Measured attachment changing errors and introduced a reference coordinate system.
• Implemented coordinate transformation for error compensation.

Main Results:

• Reduced attachment changing errors from the centimeter to millimeter scale.
• Achieved accuracy levels suitable for remote and automated operations.
• Validated the effectiveness of the error compensation method through calculations and experiments.

Conclusions:

• The proposed error compensation method significantly enhances attachment changing accuracy in demolition robots.
• This facilitates remote-controlled operations and lays the groundwork for automatic attachment changing.
• Potential applications include nuclear facility decommissioning and operations in radioactive environments.