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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。
Aiming at the problem of attitude monitoring in high-voltage live working manipulator of power system, a posture monitoring system of high-voltage live working manipulator was developed. Attitude monitoring algorithm based on quaternion method was proposed. First of all, a monitoring unit consisting of accelerometer, gyroscope, geomagnetic sensor and Zigbee wireless communication unit is installed at any position of the joints of the manipulator and the quaternion algorithm is combined to accurately measure the three-dimensional space angle of each joint of the manipulator. At the same time, The Zigbee wireless communication unit uploads the three-dimensional space angles of the joints to the monitoring terminal. Then, the monitoring terminal can quickly obtain the real-time pose of each joint of the manipulator through simple trigonometric functions and superposition calculation. Finally, An example of a Grips manipulator manufactured by Kraft Company in the United States is given. A quaternion-based manipulator kinematic model is established and simulated. The experimental results show that the proposed system and method can achieve a precision of 0.05 ° and shorten the computation time To 1 ms. The experimental results demonstrate the effectiveness and efficiency of the proposed system and method.