Error analysis and calibration of a multi-purpose inspection robot

In this paper, a multi-purpose inspection robot is proposed and its structural composition is described. The robot's ability to adapt to the environment is verified, and the climbing diameter and obstacle-crossing height are analyzed, taking into account the effect of errors. Since the state relies on the attitude adjustment mechanism to realize, the error source of the attitude adjustment mechanism is analyzed, the influence of single error source and multiple error sources on the attitude angle is considered, the law of different attitude angles affected by errors is analyzed, and the distribution of errors in the whole workspace is determined, which lays the foundation for kinematic calibration. A calibration method based on the coordinate axis of the initial angle of the constrained attitude is proposed, and after measuring the actual error, the kinematic model is corrected and the initial value of the drive is solved to ensure that the initial angle of the attitude is within a certain error range, and calibration experiments are carried out to verify the correctness of the calibration method.