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针对完全依靠人工带电拧紧高压输电线路引流板螺栓作业效率低、劳动强度大、高空和高电压危险的问题,研制了一种双臂和双机械手的引流板螺栓拧紧带电检修机器人.通过各关节的轨迹规划双作业臂及其末端由初始位姿运动到螺栓螺母对准状态是机器人顺利完成检修作业的关键.针对现有多项式插值关节轨迹规划依赖于轨迹端点时刻,导致该方法实用性差及关节轨迹运动过程中忽略驱动机构对关节状态制约的问题,提出基于Min-Max时间标准化的改进多项式插值关节轨迹规划方法.基于该方法,以关节运动时间为优化对象,提出满足关节轨迹运动全程约束条件的关节运动时间区间范围的求取方法.通过仿真实验验证了改进算法关节轨迹仅与轨迹端点状态及运动时间有关,而与端点时刻无关,进一步淡化轨迹端点时刻对关节轨迹的影响,提高算法的实用性.通过选取最优关节轨迹运动时间,满足了关节状态全程状态约束要求,从而避免超调的发生,优化了各关节运动轨迹,提高了关节运动的效率.最后通过现场试验进一步验证改进算法的工程实用性.
Aiming at the problem of low efficiency, labor intensity, high-altitude and high-voltage dangerousness of the drainage plate bolt of artificial transmission line by artificial charging, a double-arm and double-arm drainage plate bolt tightening electrified service robot was developed. Trajectory planning Dual-arm and its end moving from the initial pose to the bolt and nut alignment is the key to successful robot overhaul operation.According to the existing polynomial interpolation joint trajectory planning depends on the trajectory endpoint moment, resulting in poor practicality of the method and joint trajectory In the course of the movement, we ignore the constraint of joint mechanism of the driving mechanism, and propose an improved polynomial interpolated joint trajectory planning method based on Min-Max time standardization.Based on this method, taking the joint movement time as the optimization object, The method of calculating the range of joint motion time interval is validated by the simulation experiment, which shows that the joint trajectory of the improved algorithm is only related to the state of the endpoint and the movement time of the trajectory, but has nothing to do with the endpoint moment, further dilute the influence of trajectory endpoint moment on the joint trajectory, By choosing Preferably joints motion time, to meet the joint constraint requires state full state, thereby avoiding the occurrence of overshoot, to optimize the trajectory of each joint, to improve the efficiency of the articulation Finally further improve practicability verification algorithm field test.