高压带电作业机械臂姿态监测系统研究

发布时间：2018-12-08 07:44

【摘要】：针对电力系统高压带电作业机械臂作业过程中的姿态监测问题,研制了一种高压带电作业机械臂姿态监测系统,并提出了基于四元数法的姿态监测算法。首先,由加速度传感器、陀螺仪、地磁传感器和Zigbee无线通信单元组成的监测单元安装在机械臂各关节任意位置,并结合四元数算法,精确测量机械臂各关节的三维空间角度,同时,通过Zigbee无线通信单元,将各关节三维空间角度上传至监控终端;然后,监控终端通过简单的三角函数和迭加计算,即可快速得到机械臂各关节的实时位姿,并进行显示;最后,以美国Kraft公司生产的Grips机械臂为例,建立了基于四元数的机械臂运动学模型并进行了仿真实验,实验结果表明所提出的系统和方法测量精度可达0.05°,同时计算时间可缩短至1 ms。实验结果证明了所提出的系统及方法的有效性和高效性。
[Abstract]:Aiming at the problem of attitude monitoring in high voltage live working manipulator in power system, a attitude monitoring system for high voltage live working manipulator is developed, and an attitude monitoring algorithm based on quaternion method is proposed. First of all, the monitoring unit composed of acceleration sensor, gyroscope, geomagnetic sensor and Zigbee wireless communication unit is installed in any position of the joints of the manipulator, and combined with the quaternion algorithm, the three-dimensional spatial angle of each joint of the manipulator is accurately measured. At the same time, through the Zigbee wireless communication unit, the three dimensional angle of each joint is uploaded to the monitoring terminal. Then, through simple trigonometric function and superposition calculation, the monitoring terminal can quickly get the real-time pose of each joint of the manipulator and display it. Finally, taking the Grips manipulator produced by Kraft Corporation as an example, the kinematics model of the manipulator based on quaternion is established and simulated. The experimental results show that the measurement accuracy of the proposed system and method can reach 0.05 掳. Simultaneous calculation time can be shortened to 1 ms. The experimental results show that the proposed system and method are effective and efficient.
【作者单位】：山东建筑大学信息与电气工程学院;国网山东省电力公司电力科学研究院;
【基金】：国家高技术研究发展计划(863计划)(2012AA041506)~~
【分类号】：TM84;TP274

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