带电抢修作业机器人运动控制模型构建

Construction of the motion control model of the Live-working Robot for Emergency Repair

带电抢修作业机器人的运动控制问题,实际上就是机器人的双臂协调控制问题。当机器人双臂同时运动时,如何有效防止双臂避碰是一个必须考虑的问题。本文为防止带电抢修作业机器人双机械臂在作业过程中可能发生的碰撞,在C空间法的基础上,研究带电抢修作业机器人的双臂避碰路径规划问题,进而提出一种改进的A*搜索算法的双臂避碰的协调控制方法,并通过仿真实验,对该方法进行验证,结果表明,该方法可有效实现带电抢修作业机器人双臂避碰协调控制。

The problem of motion control of live-working robot for emergency repair is actually the problem of coordinated control of the robot’s dual arms.When the two arms of the robot move at the same time,how to effectively prevent the two arms from collision is a problem that must be considered.In this paper,in order to prevent the possible collision of the two mechanical arms of the live-working robot for emergency repair in the process of operation,on the basis of the C-space method,the problem of the path planning of the double arm collision avoidance of the live-working robot for emergency repair is studied,and then an improved A* search algorithm for dual-arm collision avoidance coordinated control method is proposed,which is verified by the simulation experiment.The results show that this method can effectively realize the coordinated control of double arm collision avoidance of the liveworking robot for emergency repair.