Intelligent Control System Of Live Working Robot Based On Virtual Reality

In order to ensure the reliability of power supply, most maintenance-related tasks on live lines, like wire breaking, wiring, replacing insurance and so on by most of the live working. In recent decades, with the great development of robotic technology, the high voltage live working robot has been introduced to the electric power industry. It can perform the maintenance-related tasks on live lines instead of the operator. So that, the operator can get rid of the dangerous environment that includes high altitude, high voltage and intense radiation. The economic benefit to power grid and operation safety of electrical power system can be greatly improved.This thesis, which takes the high voltage live working robot which designed under the funding of863Program as the experimental platform, improves the control system of live working robot combined with Virtual Reality technology. And it designs a intelligent control system of high voltage live working robot based on Virtual Reality. The intelligent control system can make operators to complete the robotic task preview and collision detection in virtual environment, So that it can simplify robotic motion control process and improve robotic control precision. Realistic virtual simulation environment and realistic environment realistic synchronization can keep pace with the real environment. It ensure the operator have the strong immerse and the small heart burden. Then, the safety and automation level of live working and economic benefit to power supply system will be improved to a great extent. This thesis includes four works as follows:First, this thesis introduces the extensional organization design of high voltage live working system. It mainly consists of the following main parts:robotic main body, movable hydraulic pressure lift platform, insulation protection system and their auxiliary equipment. Robotic main body includes master-slave hydraulic manipulator, end effectors,intelligent tool, tracking system based on visual servo and monitoring system of live working state; movable hydraulic pressure lift platform includes mobile car, lifting arm and work platform.Second, the kinematics model of six degree of freedom hydraulic manipulator is established according to the basic structure characteristics of live working robot. Movement path of robotic end effectors is converted to movement of each joint. Motion transformation from Cartesian spaces to joint space is completed. Forward kinematics and inverse kinematics analysis and its simulation by MATLAB and ADAMS software are conducted. These works can provide the basic theories to three-dimensional modeling of live working robot and the implementation of intelligent control system based on VR.Third, equipment positioning measurement algorithm and collision detection algorithm are analyzed. Equipment positioning measurement algorithm applies to implement the synchronize of position and scale between virtual device model and actual device. Collision detection algorithm applies to detect sports collisions in the virtual scene in advance.Finally, the intelligent control system design thought and software realization of live working robot based on virtual reality are discussed. And the following four parts are analyzed detailedly:four software applied in intelligent control system, design of hardware construction, design of every function module and software realization of intelligent control system.