Motion Planning Of Quad Bundle Conductor Inspection Robot Maintenance Manipulator

In view of the problems such as insufficient integration of line inspection,artificial defect repair and insufficient intelligence of the carrier,the inspection robot can be used to complete the defect detection and repair of line fittings by carrying detection equipment and maintenance tools through the manipulator.Due to the complex working scene on the transmission line,the maintenance arm will inevitably collide with the line or the robot itself in the process of movement.Therefore,this paper will study the motion planning of the maintenance manipulator when the inspection robot inspects on the quad bundle conductor.The inspection robot maintenance manipulator adopts the UR10 manipulator.Aiming at the motion planning problem of the UR10 manipulator on the quad bundle conductor,the preliminary solution of the kinematics equation is carried out according to the basic parameters of the UR10 manipulator.The working space of the UR10 manipulator is simulated and analyzed by MATLAB software,and it is proved that it meets the requirements of the working task as the maintenance manipulator.The collision detection method of two simplified models is used to realize the collision detection of the manipulator in the planning process.Based on the analysis of the limitations of the tradit ional artificial potential field method,the scheme of choosing zero in time for obstacle repulsion is proposed,and it is extended to three-dimensional space.At the same time,the improved algorithm solves the problem of unreachable target and local minimum.Finally,the above algorithm is used to plan the motion process of the maintenance manipulator on the quad bundle conductor,and the motion angles of each jo int of the manipulator are obtained.The planned joint data of the maintenance manipulator are simulated.The end of the manipulator moves safely to the target point and does not touch other objects during the movement,reaching the expected research goal,indicating that the proposed algorithm and improvement scheme are effective.