Attachment changing in demolition robots has a high docking accuracy requirement, so it is hard for operators to control this process remotely through the perspective of a camera. To solve this problem, this study investigated positioning error and proposed a method of error compensation to achieve a highly precise attachment changing process. This study established a link parameter model for the demolition robot, measured the error in the attachment changing, introduced a reference coordinate system to solve the coordinate transformation from the dock spot of the robot's quick-hitch equipment to the dock spot of the attachment, and realized error compensation. Through calculation and experimentation, it was shown that the error compensation method proposed in this study reduced the level of error in attachment changing from the centimeter to millimeter scale, thereby meeting the accuracy requirements for attachment changing. This method can be applied to the remote-controlled attachment changing process of demolition robots, which provides the basis for the subsequent automatic changing of attachments. This has the potential to be applied in nuclear facility decommissioning and dismantling, as well as other radioactive environments.
Keywords: attachment changing; demolition robot; error compensation.