摘要
针对完全依靠人工带电拧紧高压输电线路耐张跳线引流板螺栓作业效率低、劳动强度大、高空、高压危险的不足设计了一种四臂移动作业机器人.为提高作业效率,提出了基于BP神经网络的机器人双臂联动控制算法,将机器人的联动抽象为轨迹跟踪控制问题.在Matlab环境下对机械手末端从3个方向进行了位姿跟踪仿真分析,最后在实际线路上进行机器人带电拧紧引流板螺栓试验.仿真分析和现场试验都验证了四臂移动作业机器人联动控制方法可行有效且具有较强的工程实用性,达到了提高作业效率的设计要求.
In response to the shortage of tension clamp drainage board bolt tighten for high voltage transmission line on artificial low operation efficiency, labor-intensive, high-altitude, and high risk, a four arm mobile working robot was designed. In order to improve the operation efficiency, a robot arm linkage control algorithm was proposed based on BP neural network. The linkage control of the robot was abstracted into trajectory tracking control problem. In the Matlab environment, robot manipulator end tracking simulations were carried out from three directions. Finally the robot charged tighten bolt was tested on the actual line. Simulation and field tests verified that the proposed four arms mobile work robot linkage control method is feasible and effective with a strong engineering practicality which meet the design requirements of improving the operation efficiency. © 2016, Editorial Department of Journal of Northeastern University. All right reserved.
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2016年第11期1530-1535,共6页
Journal of Northeastern University(Natural Science)
基金
国家自然科学基金资助项目(51105281)
中央高校基本科研业务费专项资金资助项目(2104005)
国家电网湖南省电力公司科技项目(5216A01400B1)
关键词
移动作业机器人
BP神经网络
螺栓拧紧
轨迹跟踪
联动控制
Bolt tightening
Bolts
Efficiency
Electric lines
Manipulators
MATLAB
Neural networks
Robot applications
Robots
Speech recognition
