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Research on Visualization and Error Compensation of Demolition Robot Attachment Changing

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成果类型:
期刊论文
作者:
Deng, Qian;Zou, Shuliang*;Chen, Hongbin;Duan, Weixiong
通讯作者:
Zou, Shuliang
作者机构:
[Deng, Qian; Chen, Hongbin; Duan, Weixiong] Univ South China, Coll Mech Engn, Hengyang 421001, Peoples R China.
[Deng, Qian; Chen, Hongbin; Duan, Weixiong; Zou, Shuliang] Univ South China, Hunan Prov Key Lab Emergency Safety Technol & Equ, Hengyang 421001, Peoples R China.
通讯机构:
[Zou, Shuliang] U
Univ South China, Hunan Prov Key Lab Emergency Safety Technol & Equ, Hengyang 421001, Peoples R China.
语种:
英文
关键词:
demolition robot;attachment changing;error compensation
期刊:
Sensors
ISSN:
1424-3210
年:
2020
卷:
20
期:
8
页码:
2428-
基金类别:
Conceptualization, Q.D.; methodology, Q.D.; software, Q.D.; validation, Q.D.; formal analysis, W.D.; investigation, H.C.; resources, S.Z.; writing—original draft, Q.D.; writing—review and editing, Q.D.; visualization, Q.D.; supervision, S.Z.; project administration, S.Z.; funding acquisition, S.Z. All authors have read and agreed to the published version of the manuscript. This research was supported by the Education Department of Hunan Province of China under grant number 16B228 and the Cooperative Innovation Center for Nuclear Fuel Cycle Technology and Equipment of the University of South China under grant number 2019KFZ14.
机构署名:
本校为第一且通讯机构
院系归属:
机械工程学院
摘要:
Attachment changing in demolition robots has a high docking accuracy requirement, so it is hard for operators to control this process remotely through the perspective of a camera. To solve this problem, this study investigated positioning error and proposed a method of error compensation to achieve a highly precise attachment changing process. This study established a link parameter model for the demolition robot, measured the error in the attachment changing, introduced a reference coordinate system to solve the coordinate transformation from the dock spot of the robot's quick-hitch equipment...

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