变电站水冲洗机器人运动控制系统设计

Design of the substation water-washing robot motion control system

设计了一种针对变电站水冲洗机器人的运动控制系统,以实现对机器人的运动控制,使其到达指定位置或姿态。该控制系统分为规划级和控制级,规划级通过USB、串口等方式采集命令信息并以无线方式发送给控制级,控制级采用Trio运动控制系统,响应规划级指令并将传感器采集的信息反馈给规划级。试验结果表明,该控制系统定位精度高、响应时间快、安全性能可靠、具有多种安全保护措施。

A motion control system is designed for substation water-washing robots to control the robot to reach designated posi- tions. The motion control system is divided into a planning subsystem and a control subsystem. The planning subsystem, via USB or seri- al ports, collects command information and sends commands to vehicle-mounted subsystems in a wireless manner. The control subsys- tem, adopting TRIO control system, responses to the upper machine instructions and feeds back sensor information to the PC. This con- trol system has advantages of high positioning precision, fast response time, safe and reliable performance, multiple safety protection measures.