Investigating precision and accuracy of a robotic inspection and repair system

Abstract

Robot integration in railway maintenance steps a prominent pavement in high-efficient and low-cost job execution for the infrastructure management. To achieve practical and diverse inspection and repair railway job, a robot manipulator on a locomotive platform is one of the best options. A lot of research has been conducted to find the accuracy and precision of industrial robotic manipulator where the manipulator base is fixed. This paper initiates an exploration of the accuracy and precision of a Robotic Inspection and Repair System (RIRS), which is a novel robotic railway maintenance system integrated with an industrial manipulator (UR10e) with 6 degree-of-freedom, mounting on an Unmanned Ground Vehicle (UGV) (Warthog) and specially designed trolley. In this research, a mimic track visual inspection test using QR code detection is adopted and implemented by an arm-mounted monocular camera. Then a sequential pose moves with multiple payload weights on the manipulator end has been performed as a performance measurement of repair jobs using a vision-based position tracking algorithm. The measurement results demonstrate that RIRS can maintain accurate and consistent performance in both defect position inspection and repair moves with diverse payloads. For inspection the positional error was only 0.27% while for repair moves the end-effector can reach the same position within 1mm. This research establishes a foundation for system command & control development and supporting more practical railway jobs deployment towards full autonomy for RIRS in the future.