带电作业机器人末端姿态优化与路径规划

Research on End Posture Optimization and Path Planning of Live-line Working Robot

使用机器人自主进行高压带电作业,需要解决机器人在高空作业环境中的路径规划问题。在对带电作业机器人引流作业过程进行路径规划时,面临着非结构化的作业环境、末端姿态约束、作业范围受限等因素的影响。根据作业任务要求,针对机器人携带作业工具移动至目标线缆位置的运动过程,提出基于瞬态速度的末端作业姿态优化方法以及基于加权人工势场的RRT*路径规划方法,并进行实验与分析。

Using robots to carry out high-voltage live-line work autonomously requires solving the path planning problem of robots in high-altitude working environments.When planning the path of the live working robot during the drainage operation,it is faced with the influence of unstructured operating environment,terminal attitude constraints,and limited operating range.According to the requirements of live-line work,this paper proposes an operation posture optimization method based on transient velocity and a rapidly-exploring random tree path planning method based on the weighted artificial potential field for the movement process of the robot carrying the operation tool to the target cable position.And experiments and analysis are carried out.