Design of the Control System and Geometric Parameter Error Calibration for a Rail-Based Cable Tunnel Inspection Robot

Abstract

To address the need for manual intervention in the safety inspection of cables and associated equipment in underground cable tunnels, this paper presents the design of a control system for a previously developed five-degree-of-freedom rail-based cable tunnel inspection robot, achieving its motion control functions. A geometric parameter error model for the robot's onboard manipulator was constructed using the principle of differential transformation. Redundant parameters were eliminated through QR decomposition (Orthogonal decomposition), and the least squares method was employed to identify the geometric parameter errors of the robot. Finally, calibration experiments were conducted on the robot's geometric parameters, confirming the effectiveness of the proposed error model and compensation method, thereby providing a foundation for future research on the robot.