Translational Calibration for Contact Type Three-Dimensional Position-Measuring Instruments

In Japan, as the number of sewerage management facilities increases, continuous maintenance drainage pipes and sewage is considered important. However, it grinding for operators to perform expansive in-pipe inspection. Therefore, in recent years, inspections using stand-alone type piping inspection robots have been actively used. Inside pipe, there are disturbances such unevenness, sludge, or dents at pipe joints which cause slips tumbles robot. conventional ways approaching those adjusting size robot tires according diameter prevent tipping over. We exploring tip-over prevention measures by software approach through advanced straight-ahead control. Currently, we stage verifying self-position estimation necessary realize control, equipment that purpose required. measure position posture inside curved a special three-dimensional position-measuring device developed instrument robots, but still an error absolute positioning accuracy. this paper, solve problem make precise, propose method apply calibration used manipulator measuring instrument. Also, kinematic model its parameters explained, deleting unnecessary redundant parameter Newton's presented. Furthermore, comparative verification proposed positional accuracy after within range approximately ±1.0 mm, variation also ±0.5 shows effective.