高压柜操作机器人协调操作感知控制方法

Sensing Control Method for Coordinated Operation of High Voltage Cabinet Operating Robot

为更加精准地检测或维修高压柜设备,降低在复杂环境下受到的影响,提出基于学习自动机的机器人协调操作感知控制方法。定量描述机械臂柔性连杆形变,依照拉格朗日定理推导机器人操作系统动力学规律与振动方程;使用导纳理论计算机器臂作用力与预期速率的关系,得到协调操作约束条件;将协调操作感知控制转换成二次型问题,利用学习自动机方法控制运动行为,保证机器人在规定时间内完成变电站高压柜分合闸和更换断路器等工作的协调操作感知控制。仿真结果表明,所提方法协调操作感知控制精度高、效率快,提高了机器人运动的柔顺性与同步性。

In order to more accurately detect or repair high-voltage cabinet equipment and reduce the impact in complex environment,a ro-bot coordinated operation perceptual control method based on learning automata is proposed.The deformation of the flexible link of the manipulator is described quantitatively,and the dynamic law and vibration equation of the robot operating system are de-duced according to the Lagrange theorem;Using admittance theory,the relationship between arm force and expected velocity is calculated,and the constraints of coordinated operation are obtained;The coordinated operation perceptual control is transformed into a quadratic problem,and the learning automata method is used to control the motion behavior,so as to ensure that the robot can complete the coordinated operation perceptual control of opening and closing of substation high-voltage cabinet and replac-ing circuit breaker within the specified time.Simulation results show that the proposed method has high precision and efficiency,and improves the flexibility and synchronization of robot motion.