Research On Manipulator Controller For Power Operation And Maintenance

In power operation and maintenance tasks,due to the limitations of working space and distance,the complex working environment of high voltage and strong electromagnetic,and the diversity of tasks,such as insulator replacement and flushing in the live environment,traditional industrial robotic arms are difficult to meet the operational requirements,and often need to design various robotic arms with unique configurations for specific tasks to complete the corresponding operational tasks.Existing traditional industrial robotic arm controllers are mainly used to control six-degree-of-freedom robotic arms working in a structured environment in factories,however,for power operation and maintenance robotic arms,due to the special operating environment of power systems and the diversity of power robotic arm configurations,it is difficult for traditional industrial controllers to meet the control needs of power robotic arms.At present,the research of controllers for electric power robotic arms is still in its infancy,so the research of robotic arm controllers for power operation and maintenance is an urgent need for the power industry.Research work of this paper obtained the national natural science fund projects "synergy to consider dynamic coupling flexible body arm movement mechanism and the control method research"(52075531)and the guangxi zhuang autonomous region,focused on research and development project "suspension insulator test and replace robot development" of the support.The main areas of research include:Firstly,in order to accommodate different configurations of robotic arms,the method of the exponential product of rotational quantities is used to mathematically model the robotic arm.In contrast to the traditional D-H parametric method,which requires a coordinate system for each joint of the robotic arm with different degrees of freedom,the mathematical modelling is then based on the relationship between the joint coordinates.In contrast,the rotational exponential product method represents the motion of the end of the robot arm relative to the base coordinate system in terms of the rotational volume of each joint,as long as the rotational coordinates of each joint of the specific robot arm are determined without considering the transformation relationships between the joints.A redundant robot arm inverse kinematic solution algorithm based on the exponential product and chaotic sparrow search algorithm is proposed based on the positive kinematic equations of the robot arm model,which introduces Gaussian variants and chaotic sequences within the algorithm to effectively improve the search accuracy and prevent it from falling into local optimum solutions.The algorithm is experimentally validated using the MATLAB Robotics Toolbox,which demonstrates the feasibility of the algorithm.Then,the robotic arm motion control algorithm is studied.The trajectory interpolation algorithms commonly used in these two types of trajectory planning are investigated in detail for the trajectory planning problems of the robotic arm joint space and Cartesian space,and each interpolation algorithm is analysed in principle as well as simulation experiments.Taking a typical scenario of an electric power operation and maintenance robotic arm as an example,a single-objective particle swarm optimisation algorithm is used to optimise the trajectory of the robotic arm in order to minimise the load on each joint of the arm when it is grasping insulator pieces,based on the use of polynomial interpolation.Finally,in order to adapt to the multi-configuration and online real-time characteristics of the power robotic arm,the development of a robotic arm controller system based on ROS and Orocos is investigated.The multi-configuration power robotic arm is described using the URDF robotic arm model description method in the ROS system,and the RTT real-time tool of Orocos is used for real-time control of the power robotic arm based on the open source components of ROS.