Research On The Technology Of Grasping Drainage Line Based On Lidar Guidance

With the development of social economy,it is more and more important to ensure the stable operation of power system.The drainage line is a semi-circular line suspended on the tension rod under two horizontal insulators.Breaking and connecting the drainage line is a common work in the maintenance of distribution line.The grabbing of the drainage line by the robot arm is the initial action in the operation of the distribution network working robot.In this thesis,a deep research is made on the line-grabbing technique of lidar guided robotic arm.Firstly,the thesis summarizes the technology of live working robot,lidar data clustering and manipulator trajectory planning.Aiming at the problem of lidar detecting drainage line,the principle of lidar ranging is studied in detail.In order to improve the positioning accuracy of drainage line,the collected drainage line coordinates are denoised based on median filtering and K-means clustering.Then,the coordinate system of each joint of UR10 manipulator is established,and the kinematic model of UR10 manipulator is built by standard D-H parameter method.The expression of forward and inverse kinematics of UR10 manipulator is derived by using homogeneous transformation matrix,and the correctness of forward and inverse kinematics is verified.At the same time,Monte Carlo method is used to calculate and simulate the end grabbing range of UR10 manipulator.Secondly,in joint space,the trajectory planning of UR10 manipulator based on quintic B-spline is carried out.Next,the genetic algorithm is used to optimize the trajectory of quintic B-spline interpolation.Finally,the experiment of drainage line positioning and the experiment of manipulator arm grasping drainage line were carried out.The experimental results verify the validity of the method.