110 kV智能变电站检修机器人带电作业路径规划

Path Planning Applied on A Field Robot for Hot-line Working in 110 kV Intelligent Substation

针对110kV智能变电站检修机器人带电作业，提出了一种面向高压带电操作机器人作业安全性的路径规划方法。根据相间安全距离的定义以及带电操作任务需求，建立机器人危险性指标。通过研究机器人本身所固有的几何特性，分析各关节角与机器人危险性指标之间的关系。在此基础上提出新的评估函数，利用A＊算法在构型空间内以机器人危险性指标最低为目标进行路径搜索，实现机器人的路径规划。通过有限元法电场仿真和模拟实验，验证了该方法的有效性和可行性。

A path planning algorithm which takes the safety of hot-line working of manipulator in 110 kV intelligent substation into consideration is proposed. The electrical hazard evaluation index is established according to the insulation safety during the operation of the manipulator. Based on the index and the improved A ＊ algorithm, a method of finding the optimal path to reach the target position is established. The finite element method and experiment show that the robot can safely reach the target position along the planed path, which verifies the feasibility of the algorithm.