Three-Dimensional Position-Measuring Instrument using Two Manipulators
Hirofumi Maeda
Prof. Hirofumi Maeda, Department of Information Science and Technology, National Institute of Technology (KOSEN), Yuge College, Ehime Prefecture, Japan.
Manuscript received on 07 February 2025 | First Revised Manuscript received on 12 February 2025 | Second Revised Manuscript received on 16 April 2025 | Manuscript Accepted on 15 May 2025 | Manuscript published on 30 May 2025 | PP: 1-8 | Volume-14 Issue-1, May 2025 | Retrieval Number: 100.1/ijrte.F821413060325 | DOI: 10.35940/ijrte.F8214.14010525
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: In Japan, the number of sewer culverts with a service life of 50 years has increased, and ageing facilities have become apparent. In recent years, therefore, robots have been used for pipe inspections. Thus, the robot must grasp the situation and perform actions to prevent tipping over in the pipe. Consequently, we have decided to explore a software approach to prevent tipping using driving control, aiming to achieve highly accurate self-position estimation, which is necessary for this approach to be practical. Although we have established a basic localisation method based on our previous research, a small estimation error remains due to the influence of tire shape. Therefore, we propose a highly accurate localisation method that utilises a neural network to compensate for this estimation error. However, a large amount of teacher data was required to achieve this. For this reason, this research develops a three-dimensional position-measuring instrument that can quickly perform many measurements with high accuracy using two commercially available manipulators. This paper presents a three-dimensional position-measuring machine that can quickly perform high-precision and highvolume measurements using two commercially available manipulators. The paper demonstrates how to connect two manipulators utilising a ball joint and proposes a highly accurate measurement theory utilising an IMU. Furthermore, we confirm that the accuracy of the contact-type three-dimensional positionmeasuring is within 1 mm on average for translation error, within 1 deg on average for angular error, within 1 mm for the standard deviation of translation error, and 1 deg for the standard deviation of angular error except for 0 γp3, even in the initial state without calibration. This result shows that the method can be used in a neural network to correct estimation errors.
Keywords: Measuring Instrument, Manipulator, Contact Type, Exploration Robot, Water Pipe.
Scope of the Article: Mechanical Engineering and Applications