摘要
为了提高电力巡检移动机器人的实时性和可操作性,介绍一种以嵌入式Linux系统为核心的电力巡检移动操作机控制系统的软硬件体系结构。给出移动操作臂的动态模型,并基于D-H方法和公式法,给出基于该体系结构的具有冗余自由度电力巡检移动操作机逆运动学分析。在实验中,利用固定在移动机器人上的CCD摄像机对目标物体进行定位,然后根据目标物体的位姿信息,通过逆运动学分析的结果控制移动操作臂实现了对目标物体的抓取操作。进一步分析说明了所设计的体系结构的合理性和可行性。
To improve the real-time and operability of electric inspection mobile robot,the software and hardware architecture of electric inspection mobile manipulator control system based on embedded Linux are introduced.A simplified dynamic model is developed for the mobile manipulator,and based on D-H method and formula method,inverse kinematics analysis for electric inspection mobile manipulator with redundant degrees of freedom is presented.In these experiments,based on the information of the target position and orientation obtained from an on board CCD camera,the mobile manipulator is controlled to catch the target by utilizing the proposed inverse kinematics analysis strategy.The example results show the validity and feasibility of the designed architecture.
出处
《控制工程》
CSCD
北大核心
2009年第S2期196-198,共3页
Control Engineering of China
关键词
嵌入式LINUX
电力巡检
移动操作机
冗余自由度
embedded Linux
electric inspection
mobile manipulator
redundant degree of freedom
