Research On The Control Of The X-ray Non-destructive Testing Mobile Platform Manipulator In Power Equipment

The X-ray nondestructive testing technology of power equipment is composed of a mobile trolley and a manipulator,the end of the robot arm is provided with a X ray machine,and the adjusting efficiency of the position and the orientation of the X ray machine can be improved by using the mobile platform.The GIS equipment of the substation is no rule,the mechanical arm in the movement process need to avoid the GIS equipment to avoid the mechanical arm and GIS equipment due to collision damage.The main research content of this paper is that the robot arm can search a planning path from the initial position to the target location,and the robot arm can move along this path to avoid obstacles in the environment.There are three levels in the research of path planning of robot arm,the first is the end of mechanical arm movement from the initial position to the goal position;then the mechanical arm can avoid obstacles in the environment surrounding the process of this movement;the last point is to optimize the path planning,which is the best choice in all possible paths.In this paper,the object of study is UR5 manipulator,this paper mainly includes:The kinematics model of the UR5 manipulator is established,and the forward kinematics solution and inverse kinematics solution of the robot arm are solved;The shortcomings of the traditional artificial potential field method are studied and the solution to the problem is put forward,collision detection algorithm is introduced,and a new algorithm for collision detection is proposed;Using the improved artificial potential field method and cylinder collision detection algorithm,the trajectory planning of the manipulator is carried out,after that,the planned obstacle avoidance trajectory is introduced into the UR robot arm simulator to get the corresponding control file,and then the control file is imported into the robot arm to control the robot arm to carry out an obstacle avoidance movement control.Experimental results show that the improved artificial potential field method and cylinder collision detection can be very good to avoid the obstacles in the surrounding environment.