Active Compliance Control Technonlgy For Door-open Operation Of Substation Robot

As the scale of equipment in the power grid has increased,power inspection robots with mobile observation functions have been applied to scenarios such as the condition monitoring of substation equipments.However,since the non-contact tasks that can be covered by robot observation only occupy a part of the operation and inspection work,to enhance the level of intelligence operation,power inspection robots are required to have stronger operation capability to adapt to the diversity of tasks.As a prerequisite for inner-cabinet operation,the opening of substation equipment doors is an indispensable part in the operation task.The dissertation takes the operation problems in substation inspection as the background and focuses on the active compliance control of robot door-open operation.The main research work of this thesis is as follows:Firstly,high-level planning is carried out for the robot door-open operation,and the suppleness requirements in control are analyzed.By analyzing the position of the door-open operation in the inspection task,the task range is clarified.Taking the standard electrical cabinet as the research object,the door-open operation task is divided into subtasks around the trajectory of mechanical parts of the electrical cabinet,and specific action planning is carried out for the subtasks.From the safety point of view,the compliance control requirements during the operation are analyzed according to the difficulty of action realization.Secondly,the six-degree-of-freedom robot arm is used as the control device,and the motion trajectory planning of the robot arm is studied in conjunction with the specific dooropen operation task.Based on the Denavit-Hartenberg method,the robot arm is modeled and the operator relationship between the position of the end-effector and the joint angle is established by the positive and negative kinematic equations.According to the specific action of the operation task,the Cartesian space trajectory planning is carried out by the closed-chain motion constraint relationship in contact case;the joint space trajectory planning is carried out by the fifth polynomial interpolation method in non-contact case,which provides a basis for the control of the robot arm.Thirdly,a dynamic model describing the interaction between the robotic arm and the environment is established to design an impedance control strategy.The dynamic model of the robot arm is established to realize the accurate control of joint torque and ensure the smoothness of operation;the dynamic model of the environment in the key stages of the task is established to describe the interaction between the robot arm and the environment.Furthermore,an impedance control strategy is proposed,and the corresponding impedance controllers are designed from both position and force perspectives.The influence of impedance parameters on the system characteristics is analyzed qualitatively through simulation.Finally,the comprehensive simulation model and experimental platform of robot dooropen operation are built to verify the effect of the impedance controller.The models of robot arm and impedance control system are built by MATLAB to analyze the process of pressing and rotating subtask.The experimental platform of the substation operation robot is built and experiments are conducted for the button pressing process to verify the control effect of the impedance controller.The action of the electrical cabinet door-open task is planned in this dissertation,and the active compliance control method based on impedance control is used for the supple effect during the contact,which ensures the effectiveness and safety of the operation and provides an effective solution for the robot operation task.