10 kV开关柜紧急分合闸机械臂动作控制系统的研究

Research on the Motion Control System of the 10 kV Switchboard Emergency Switching-Off Manipulator Arm

常规的机械臂动作控制系统可检测与识别目标位置,但机械臂实际到达的位置坐标存在视觉误差,影响了机械臂动作的控制效果。为此,本文设计了一种新的10 kV开关柜紧急分合闸机械臂动作控制系统。在硬件方面,设计了ADS1298芯片与机械臂末端效应器;在软件方面,建立了机械臂动作控制功能模块,并设计了紧急分合闸机械臂动作控制程序。实验表明,应用该系统得到的机械臂实际到达位置坐标的视觉误差相对较小,使得该系统的控制效果更佳,能够应用于实际电力项目中。

The conventional manipulator motion control systemcan detects and identifies the position of the target position,but there is a visual error in the actual position coordinate of the manipulator,which affects the manipulator motion control effect.For this reason,a new action control system for emergency opening and closing manipulator of 10 kV switchgear is designed.In hardware,ADS1298 chip and manipulator end effector are designed;In the aspect of software,the motion control function module of the mechanical arm is established,and the motion control program of the mechanical arm for emergency opening and closing is designed.The experiment shows that the vision error of the actual position coordinate of the manipulator obtained by using this system is relatively small,which makes the control effect of this system better and can be applied to actual power projects.