Please wait a minute...

机械工程学报  2022, Vol. 58 Issue (5): 1-7    DOI: 10.3901/JME.2022.05.001
  机器人及机构学 本期目录 | 过刊浏览 | 高级检索 |
圆柱形钢制构件表面爬壁机器人姿态估计方法
张文, 丁雨林, 陈咏华, 孙振国
清华大学机械工程系 北京 100084
Attitude Estimation of Wall Climbing Robot on Cylinder-shaped Steel
ZHANG Wen, DING Yu-lin, CHEN Yong-hua, SUN Zhen-guo
Department of Mechanical Engineering, Tsinghua University, Beijing 100084
全文: PDF(427 KB)  
输出: BibTeX | EndNote (RIS)      
摘要 针对相对封闭、磁干扰等特殊环境下传感器应用受限,导致爬壁机器人的姿态估计误差偏大的问题,提出并实现了一种基于惯性测量单元(IMU)和圆柱形状约束的爬壁机器人姿态估计方法(IMU-CC-ATE)。该方法利用爬壁机器人执行工作任务中运动状态和静止状态频繁切换的特点,使用静止状态时IMU的角速度输出值估计相邻运动状态时IMU的角速度漂移值;并结合圆柱形表面约束使机器人姿态估计的横滚角保持不变的特性,设计扩展卡尔曼滤波器(EKF)对机器人的姿态和IMU的角速度漂移进行实时估计。实验结果表明:该方法使爬壁机器人姿态估计的航向角误差从20°以上降低至3.5°,俯仰角误差保持在2°以内,横滚角误差在0.5°以内,有效地提高了机器人姿态估计精度。
服务
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章
张文
丁雨林
陈咏华
孙振国
关键词 姿态估计惯性测量单元扩展卡尔曼滤波器爬壁机器人圆柱形    
Abstract:Aiming at the problem of large attitude estimation error of wall climbing robot due to the limited application of sensors in the relatively closed and magnetic interference environment, a new attitude estimation method based on inertial measurement unit(IMU) and cylindrical shape constraint is proposed and implemented. Taking advantage of the frequent switching between the moving and stationary states of the wall climbing robot, the angular velocity drift of IMU in the moving state is estimated using the angular velocity output of IMU in the stationary state. With the constant roll angle constrained by the cylinder surface, an extended Kalman filter(EKF) is designed to estimate the attitude of robot and the angular velocity drift of IMU in real time. The experimental results show that this method can reduce the heading angle error in attitude estimation from over 20°to 3.5°, and the pitch angle error is remained within 2ånd the roll angle error is less than 0.5°, which effectively improves the accuracy of the attitude estimation.
Key wordsattitude estimation    inertial measurement unit    extended Kalman filter    wall climbing robot    cylinder-shaped
收稿日期: 2021-03-24      出版日期: 2022-04-28
ZTFLH:  TP242  
基金资助:国家自然科学基金(E51475259);苏州—清华创新引领行动计划专项(2016SZ0218)资助项目。
通讯作者: 孙振国(通信作者),男,1971年出生,博士,副教授,博士研究生导师。主要研究方向为光机电一体化技术与自动化系统、爬壁机器人技术及其应用、智能化焊接技术与装备等。E-mail:sunzhg@tsinghua.edu.cn     E-mail: sunzhg@tsinghua.edu.cn
作者简介: 张文,男,1992年出生,博士研究生。主要研究方向为机器人导航与定位。E-mail:zhangwen15@mails.tsinghua.edu.cn
引用本文:   
张文, 丁雨林, 陈咏华, 孙振国. 圆柱形钢制构件表面爬壁机器人姿态估计方法[J]. 机械工程学报, 2022, 58(5): 1-7.
ZHANG Wen, DING Yu-lin, CHEN Yong-hua, SUN Zhen-guo. Attitude Estimation of Wall Climbing Robot on Cylinder-shaped Steel. Journal of Mechanical Engineering, 2022, 58(5): 1-7.
链接本文:  
http://qikan.cmes.org/jxgcxb/CN/10.3901/JME.2022.05.001      或      http://qikan.cmes.org/jxgcxb/CN/Y2022/V58/I5/1
[1] MANUEL V,ILYAS M,SRIHARSHA G,et al.Multi-sensor orientation tracking for a facade-cleaning robot[J].Sensors,2020,20(5):1483.
[2] 齐有泉,李艳文,陈子明,等.串联九自由度喷涂机器人及其运动学分[J].机械工程学报,2020,56(23):165-171.QI Youquan,LI Yanwen,CHEN Ziming,et al.Design and kinematics'analying of a series nine-degree-of-freedom spraying robot[J].Journal of Mechanical Engineering,2020,56(23):165-171.
[3] ZHANG Gang,SHI Yu,GU Yufen,et al.Welding torch attitude-based study of human welder interactive behavior with weld pool in GTAW[J].Robotics and Computer-Integrated Manufacturing,2017,48:145-156.
[4] HE Yinshui,YU Zhuohua,LI Jian,et al.Discerning weld seam profiles from strong arc background for the robotic automated welding process via visual attention features[J].Chinese Journal of Mechanical Engineering,2020,33(1):1-12.
[5] RICCARDO C,FRANCESCO F,NICCOLÒM,et al.An attitude estimation algorithm for mobile robots under unknown magnetic disturbances[J].IEEE/ASMETransactions on Mechatronics,2016,21(4):1900-1911.
[6] DAVIDE F,KEVIN K,DAVIDE S.Dynamic obstacle avoidance for quadrotors with event cameras[J].Science Robotics,2020,5(40):13-27.
[7] QIN Tong,LI Peiliang,SHEN Shaojie.Vins-mono:Arobust and versatile monocular visual-inertial state estimator[J].IEEE Transactions on Robotics,2018,34(4):1004-1020.
[8] ROSS H,MAANI G,RYAN M,et al.Contact-aided invariant extended Kalman filtering for robot state estimation[J].The International Journal of Robotics Research,2020,39(4):402-430.
[9] SAMUEL W,HENRY E,YOSHIKATSU H,et al.Formulation of a new gradient descent MARG orientation algorithm:Case study on robot teleoperation[J].Mechanical Systems and Signal Processing,2019,130:183-200.
[10] WU Jin,ZHOU Zebo,FOURATI H,et al.A super fast attitude determination algorithm for consumer-level accelerometer and magnetometer[J].IEEE Transactions on Consumer Electronics,2018,64(3):375-381.
[11] DAVID F,RALF M.Comparing holistic and feature-based visual methods for estimating the relative pose of mobile robots[J].Robotics and Autonomous Systems,2017,89:51-74.
[12] 邢志伟,朱晓蕊,何超.基于行人行为学习的机器人同时定位与可通行区域制图[J].机械工程学报,2019,55(11):36-45.XING Zhiwei,ZHU Xiaorui,HE Chao.Simultaneous localization and traversable region mapping based on pedestrian behavior learning[J].Journal of Mechanical Engineering,2019,55(11):36-45.
[13] YU Hongshan,FU Qiang,YANG Zhengeng,et al.Robust robot pose estimation for challenging scenes with an RGB-D camera[J].IEEE Sensors Journal,2018,19(6):2217-2229.
[14] AMEDEO R V,CAUSA F,RENGA A,et al.Multi-UAVcarrier phase differential GPS and vision-based sensing for high accuracy attitude estimation[J].Journal of Intelligent & Robotic Systems,2019,93(1):245-260.
[15] JEREMY M,MAX B,SARA S,et al.Real-time pose estimation of a dynamic quadruped in GPS-denied environments for 24-hour operation[J].The International Journal of Robotics Research,2016,35(6):631-653.
[16] TU Chunlei,JIN Shanshan,ZHENG Kai,et al.Support and positioning mechanism of a detection robot inside a spherical tank[J].Chinese Journal of Mechanical Engineering,2021,34(1):1-10.
[17] HEIKKI H,ARTO V.A DCM based attitude estimation algorithm for low-cost MEMS IMUs[J].International Journal of Navigation & Observation,2015(1):115-133.
[18] SHASHI P,PARAG N,VIPAN K,et al.PSO aided adaptive complementary filter for attitude estimation[J].Journal of Intelligent & Robotic Systems,2017,87(3):531-543.
[19] WU Zheming,SUN Zhenguo,ZHANG Wenzeng,et al.A novel approach for attitude estimation based on MEMSinertial sensors using nonlinear complementary filters[J].IEEE Sensors Journal,2016,16(10):3856-3864.
[20] JIA Yong,LI Suilao,QIN Yongyuan,et al.Error analysis and compensation of MEMS rotation modulation inertial navigation system[J].IEEE Sensors Journal,2018,18(5):2023-2030.
[1] 王洋, 张小俊, 张明路, 孙凌宇. 可自适应变曲率立面的分体柔性爬壁机器人设计与分析[J]. 机械工程学报, 2021, 57(3): 49-58.
[2] 郭震, 张理, 周伟, 毕贵军, 韩冰. 立向高速GMAW驼峰焊缝的试验研究[J]. 机械工程学报, 2020, 56(14): 73-80.
[3] 过金超, 崔光照, 陈旭, 高瑜. 面向爬壁机器人的电极吸附阵列模型构建及优化[J]. 机械工程学报, 2015, 51(9): 51-57.
[4] 薛胜雄;任启乐;陈正文;王永强. 磁隙式爬壁机器人的研制[J]. , 2011, 47(21): 37-42.
[5] 衣正尧;弓永军;王祖温;王兴如. 新型船舶壁面除锈爬壁机器人动力学建模与分析[J]. , 2010, 46(15): 23-30.
[6] 姜勇;王洪光;房立金. 基于主动试探的微小型爬壁机器人步态控制[J]. , 2009, 45(7): 56-62.
[7] 桂仲成;陈强;孙振国. 多体柔性永磁吸附爬壁机器人[J]. , 2008, 44(6): 177-182.
[8] 曹利新;吴宏基;刘健. 基于五坐标数控圆柱形刀具线接触加工自由曲面的几何学原理[J]. , 2003, 39(7): 134-137.
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
京ICP备05060958号 中国机械工程学会版权所有,未经同意请勿转载
中国机械工程学会/北京市海淀区首体南路9号主语国际4号楼11层,邮编100048
0