Error Analysis of Robot Detecting System with Laser Sensor in Unknown Environment

摘要：

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.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.

关键词： laser sensor environment detection robot error analysis.

作者: Zhong Luo Hongyi Liu Dandan Cui Honghai Tian

作者单位: School of Mechanical Engineering & Automation,Northeastern University,Shenyang,Liaoning Province,China

会议类型: 国际会议

会议名称: International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)

会议地点: 上海

会议语种:英文

在线出版日期: 2008-06-29（万方平台首次上网日期，不代表论文的发表时间）