Research On Compliance Control Method Of Inspection Robot For High-Voltage Room

The high-voltage power distribution room in the substation is an important part of the power system and requires electricians to conduct daily inspections and maintenance.However,due to many factors such as the psychological quality,business level,work experience and mental state of the inspectors,missed inspections and false inspections have occurred.The number of high-pressure chambers is huge,the location is remote,and the quality of equipment is uneven.Daily inspection and maintenance require huge manpower and material resources.When the equipment fails and the emergency power is cut off,the staff needs to perform the high-voltage emergency opening operation.If the operation is improper,the explosion will occur,which poses a great threat to the personal safety of the staff.According to incomplete statistics,the direct economic losses caused by missed inspection,misdetection and improper operation of substation equipment have reached more than 6 billion yuan per year.Therefore,it is extremely urgent to develop a robot that can replace the staff for on-site inspection and fine operation of the high-voltage room.Based on the Chinese Academy of Sciences' special project "Key Technology and System Development of Next-Generation Industrial Robots"(Question No.:KGZD-EW-608-1),this paper is based on the safety of the high-pressure room inspection and operation.Research on the six-degree-of-freedom robot compliance control method,the main research work includes:(1)Compared with traditional industrial robots,this paper analyzes the research development history,technical advantages and application prospects of cooperative robotic arms and high-pressure chamber inspection robots,and focuses on the domestic and international research status of collaborative robotic arm compliance control methods.The high-pressure room operation scene discusses the research significance of the compliance control method and refines the scientific problem.(2)Using the UR5 manipulator as the research object and verification platform,the kinematics analysis of the cooperative manipulator is carried out.The forward and inverse kinematics models are established based on the DH parameter method.The model is simulated by the MATLAB robot toolbox.(3)The Jacobian matrix of the UR5 manipulator is solved by the comprehensive method,and the mapping relationship between the speed of the end effector of the manipulator and the speed of each joint is established.The dynamic analysis of the UR5 manipulator is based on the Lagrangian method.The robot dynamics model was established and the influence of the environment on the dynamic model was considered and the model was optimized.(4)The advantages and disadvantages of the compliant control method are analyzed.The admittance control model based on Cartesian space is established.The control model is optimized by gravity compensation.The admittance control is proposed for the obstacle avoidance problem of the manipulator in free space.The robot obstacle avoidance method solves the problem that the robot singular point is out of control.(5)Established a joint test platform between the host computer and the Kinect camera and the UR5 robot arm,and verified the feasibility and effectiveness of the above theory.