摘要
变电站工作环境特殊且复杂,为保证巡检机器人在执行巡检任务的同时,能更好、更安全地进行作业,提出面向轮式巡检机器人的机械臂避障路径规划方法。利用八叉树结构建模技术,架构巡检机器人工作环境的三维模型与环境更新模型。确定机械臂与环境关系,建立机械臂运动学模型,根据末端执行器位姿的已知与未知情况,完成运动学模型的正解与反解计算。基于关节位姿的三维坐标,设定机械臂连杆不碰撞障碍物为必要条件,依据六次多项函数式解得的关节角速度与角加速度连续轨迹,通过更改非固定参数值,调整机械臂的移动轨迹,最后,利用贝塞尔曲线平滑处理路径。仿真试验结果表明,所提方法路径精度更优越,避障效果更理想,符合变电站巡检的实时性需求。
The working environment of substation is special and complex.In order to ensure that the inspection robot can perform the inspection task better and safer, a robot arm obstacle avoidance path planning method for wheeled inspection robot is proposed.Using the octree structure modeling technology, the three-dimensional model and environment update model of the working environment of the inspection robot are constructed.The relationship between the robot arm and the environment is determined, the kinematic model of the robot arm is established, and the positive and negative solutions of the kinematic model are calculated according to the known and unknown end-effector poses.Based on the three-dimensional coordinates of the joint pose, it is necessary to set that the connecting rod of the manipulator does not collide with obstacles.According to the continuous trajectory of the joint angular velocity and angular acceleration solved by the sixth polynomial function, the moving trajectory of the manipulator is adjusted by changing the non fixed parameter value.Finally, the path is smoothed by using the Bezier curve.In the simulation test stage, the comparative test is carried out for the 6-DOF articulated manipulator.It is verified by the obstacle avoidance trajectory, total distance and planning time that the proposed method has better path accuracy and better obstacle avoidance effect, which meets the real-time requirements of substation inspection.
作者
李福鹏
曾红英
王霞
LI Fupeng;ZENG Hongying;WANG Xia(Zhongshan Power Supply Bureau of Guangdong Power Grid Co.,Ltd.,Zhongshan 528400,China;Zhejiang Guozi Robotics Co.,Ltd.,Hangzhou 311422,China)
出处
《机械与电子》
2023年第2期32-36,共5页
Machinery & Electronics
关键词
变电站巡检
轮式机器人
运动学
机械臂
避障路径
贝塞尔曲线
substation patrol inspection
wheeled robot
kinematics
mechanical arm
obstacle avoidance path
Bessel curve
