| Live line operation is the most commonly used maintenance method in modern power system which can realize the maintenance of the power system without power cutting.The live maintenance robot can assist or even replace the manual operation,to a certain extent,solving the problem of low efficiency,poor reliability and high risk,which opens up a new way for live working.In view of the current power grid enterprise live working object diversity and the urgent demand for operation process automation,this topic oriented to the double operation task of high voltage transmission line,the paper developed a kind of insulator(auxiliary)replacement and the drainage plate strain clamp bolts tightening terminal function reconfigurable live maintenance robot,through the mobile robot platform with reconfigurable different terminal tools to complete various operation task.In order to improve the operation efficiency,operation reliability and practicality of the robot,in the process of operation,the research focus on the study of several key issues which related to robot manipulator autonomous localization control,manipulator joint motion trajectory optimization and control,mechanical arm robust motion control,key operation state online monitoring.In this paper,the main content and the research ideas are as follows:(1)Design and implementation of terminal reconfigurable function of live maintenance robot.In connection with the robot features of single operation function and low utilization of mobile robot platform,we proposed a new multi-task terminal reconfigurable method,and realized the development of mechanical,electrical and software system of reconfigurable dual manipulator robot system live maintenance platform.On the basis of the general mobile robot platform,the different operation functions are completed through the reconfigurable of the manipulator,which improves the utilization rate of the mobile platform and satisfies the diversification of the operation object.(2)Manipulator autonomous localization control of live maintenance robot.In order to improve the operational efficiency and operational reliability of the robot,a double closed-loop manipulator autonomous localization control method based on kinematics and machine vision is proposed,wherein the one close-loop achieve the rough localization of the manipulator,and the other close-loop achieve the fine localization of the manipulator.The kinematics model of double manipulator are established,the inverse kinematics solution is solved based on BP neural network,set the drainage plate bolt tightening operation as an example,the effectiveness of the algorithm is verified by simulation and field operation experiment.(3)Optimal operation of arm joint motion for live maintenance robot.In connection with the problem of continuous,smooth,stable and full joint state constraint of point-to-point trajectory motion in robot operation,an improved N-order polynomial trajectory planning algorithm based on time normalization is proposed.The joint motion time is used as the performance evaluation parameter of joint trajectory.The optimal motion time is used to solve the joint position constraint problem.The joint velocity and acceleration state control method are proposed based on the theoretical basis and combined with the dynamics mode.The superiority of the improved algorithm is verified by the simulation experiment and the field operation experiment proves the engineering practicality of the method.(4)The robust motion control of the robot manipulator.In connection with the problem of the disturbance and the influence of various uncertain factors in actual working environment on the motion control performance of the robot operation arm,a robust motion control method of the robot operation arm based on the H? theory is proposed.Through the unified motion control model,the motion control model of the multi-arm multi-action robot system is constructed.Taking the live maintenance robot as the research object,the controller is solved by the linear matrix inequality(LMI),and the effectiveness of the algorithm is verified by simulation,the field operation experiment also proves the method is of engineering practicality.(5)Online monitoring method of operation status of live maintenance robot.Based on the robot manipulator autonomous localization control,a bolt-tightening operation status online monitoring method based on force feedback is proposed,and the real-time online monitoring of bolt tightening status is realized which improve the reliability and operability of the robot operation.Simulation and field operation experiment verify the effectiveness of the method and engineering practicality. |
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