Error analysis of robot detecting system with laser sensors in unknown environment
Zhong Luo, Hongyi Liu, Fei Wang · International Journal of Modelling Identification and Control · 2011
Based on the extremely complicated circumstances of the unknown working environment of robots, and the uncertainty and continuous non-conductivity of the contact surface, a new detecting method is presented, based on the combination of a swing laser rangefinder sensor and an operating robot system. The detecting system model of robots is set up and the theoretical analysis is also made, which shows that the detecting error of the detecting system based on the laser sensor mainly comes from the laser rangefinder measure error caused by itself, the error related with the detected environment surface, the error caused by the dynamic measurement and the error caused by the outside environment. Furthermore, in order to control the complex system, a human-simulation intelligent control method of contact force is presented. The basic principle of the intelligent control method is that it can choose the appropriate programs prepared in advance according to the size and sign of the force error and change rate of the error. Strategies of error modification and mathematic modification formulas are pointed out at different sources of error in the paper which lays the foundation of further researching the precise control methods of robot in variety under the unstructured environment.