电力设备X射线无损检测移动平台机械臂控制研究

发布时间：2018-06-22 17:40

本文选题：机械臂 + 避障　；参考：《华北电力大学》2017年硕士论文

【摘要】：电力设备X射线移动平台包含末端安装有X射线机的机械臂,机械臂安装在移动机器人上,利用移动平台来进行X射线机的位姿调整,提高检测的工作效率。由于变电站的GIS设备具有无规则性,机械臂在运动过程中需避开GIS设备以免发生损伤。本文主要研究机械臂末端在周围环境有障碍物时能够自主搜索出一条从初始位置到目标位置的规划路径,并且可以避开环境中的障碍物。机械臂路径规划研究主要有三个层次,首先需要机械臂的末端能够从初始位置运动到设定的目标位置;然后要求机械臂能够在此运动的过程中避开周围环境中的障碍物;最后要对规划出来的路径进行优化,使其在所有可能存在的路径中处于最优的选择。本文在研究的对象为UR5机械臂,通过电力设备X射线无损检测移动平台的真实工作环境进行分析的基础上,对UR5机械臂进行了相关机械臂避障路径规划的研究,主要包括:对UR5机械臂进行运动学建模,进行机械臂的运动学正解和运动学逆解的求解;研究传统人工势场法存在的缺点并研究问题的解决办法,介绍几种常用的碰撞检测算法并分析各种碰撞检测算法的优缺点,研究一种新的圆柱碰撞检测算法;运用改进的人工势场法和圆柱碰撞检测算法进行机械臂避障路径规划,并将规划好的避障路径导入UR5机械臂模拟器中得到相应控制文件,将控制文件导入机械臂控制版面对机械臂进行一个避障运动控制。本文最后对实验室里的UR5机械臂进行了仿真实验,实验结果表明,运用改进的人工势场法和圆柱碰撞检测之后可以很好的避开周围环境中的障碍物,达到了项目所需要的功能。
[Abstract]:The X ray moving platform of power equipment consists of a mechanical arm with an X ray machine at the end. The robot arm is mounted on a mobile robot. The position and pose adjustment of the X ray machine is carried out by using the mobile platform to improve the efficiency of the detection. Due to the irregular nature of GIS equipment in substation, the mechanical arm should avoid the GIS equipment in the process of movement to avoid damage. In this paper, it is studied that the end of the manipulator can search for a planned path from the initial position to the target position independently when there are obstacles in the surrounding environment, and can avoid the obstacles in the environment. There are three levels in the path planning of the manipulator. Firstly, it is required that the end of the manipulator can move from the initial position to the target position, and then the manipulator can avoid the obstacles in the surrounding environment. Finally, the planned path should be optimized to make it the best choice among all possible paths. On the basis of analyzing the real working environment of the mobile platform of power equipment X-ray nondestructive testing, this paper studies the obstacle avoidance path planning of UR5 manipulator. The main contents are as follows: the kinematics modeling of UR5 manipulator, the solution of forward kinematics solution and inverse kinematics solution of the manipulator, the study of the shortcomings of the traditional artificial potential field method and the solution of the problem. This paper introduces several commonly used collision detection algorithms, analyzes the advantages and disadvantages of various collision detection algorithms, studies a new cylindrical collision detection algorithm, uses the improved artificial potential field method and the cylindrical collision detection algorithm to plan the obstacle avoidance path of the robot arm. And the planned obstacle avoidance path is imported into the UR5 manipulator simulator to obtain the corresponding control file, and the control file is imported into the manipulator control version to control the obstacle avoidance motion of the manipulator. At the end of this paper, the simulation experiment of UR5 manipulator in the laboratory is carried out. The experimental results show that the improved artificial potential field method and cylindrical collision detection can avoid obstacles in the surrounding environment and achieve the functions required by the project.
【学位授予单位】：华北电力大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM507;TP241

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