Investigating precision and accuracy of a robotic inspection and repair system

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dc.contributor.authorRahman, Miftahur
dc.contributor.authorLiu, Haochen
dc.contributor.authorRahimi, Masoumeh
dc.contributor.authorRuiz Carcel, Cristobal
dc.contributor.authorKirkwood, Leigh
dc.contributor.authorDurazo-Cardenas, Isidro
dc.contributor.authorStarr, Andrew
dc.date.accessioned2021-11-25T18:20:23Z
dc.date.available2021-11-25T18:20:23Z
dc.date.issued2021-10-20
dc.description.abstractRobot 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.en_UK
dc.identifier.citationRahman M, Liu H, Rahimi M, et al., (2021) Investigating precision and accuracy of a robotic inspection and repair system. In: 10th International Conference on Through-life Engineering Services (TESConf 2021), 16-17 November 2021, Twente, The Netherlandsen_UK
dc.identifier.issnhttps://doi.org/10.2139/ssrn.3945943
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/17300
dc.language.isoenen_UK
dc.publisherSSRNen_UK
dc.rightsAttribution 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectRailway maintenanceen_UK
dc.subjectunmanned ground vehicleen_UK
dc.subjectrobotic automation systemen_UK
dc.subjectprecision & accuracyen_UK
dc.titleInvestigating precision and accuracy of a robotic inspection and repair systemen_UK
dc.typeConference paperen_UK

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