Joint motion control method of inspection robot and inspection robot
An inspection robot and control method technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as configuration instability, inability to meet the requirements of power transmission line inspection operations, failure to overcome obstacles, etc., to improve accuracy Effect
Active Publication Date: 2022-06-24
NORTHEASTERN UNIV LIAONING
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Problems solved by technology
The inspection robot needs to cross or avoid various obstacles such as towers, anti-vibration hammers, suspension clamps and drainage jumpers, and bear the influence of external excitations such as wind loads. If effective control cannot be performed, the inspection robot will show complex Due to the nonlinear dynamic characteristics of the robot, the configuration conversion, obstacle crossing, pose control and stability of the robot cannot be carried out smoothly, resulting in problems such as configuration instability and obstacle surmounting failure, which cannot meet the requirements of transmission line inspection operations. It is necessary to evaluate and control the motion of the joints during the obstacle-crossing process of the inspection robot
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[0031] In order to better explain the present invention and facilitate understanding, the present invention will be described in detail below with reference to the accompanying drawings and through specific embodiments.
[0032] like figure 1 , figure 2 As shown, the present invention discloses a joint motion control method for an inspection robot, which includes the following steps:
[0033] Before the robot inspection, optimize the given joint operating parameters to obtain the theoretical control torque of the joint;
[0034] In the robot inspection process, the operation of the joint is controlled by the theoretical control torque, and the actual operating parameters of the joint are detected;
[0035] Comparing the actual operating parameters with the expected parameters corresponding to the theoretical control torque, the optimal actual operating parameters are obtained, and the actual control torque is obtained through the optimal actual operating parameters.
[003...
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The invention belongs to the technical field of robot control, and in particular relates to a joint motion control method of an inspection robot and an inspection robot. The joint motion control method of the inspection robot includes the following steps: before the robot inspection, optimize the calculation of the given joint operation parameters to obtain the theoretical control torque of the joint; during the robot inspection process, control the operation of the joint through the theoretical control torque, And the actual operating parameters of the joints are detected; the actual operating parameters are compared with the expected parameters corresponding to the theoretical control torque to obtain the optimal actual operating parameters, and the actual control torque is obtained through the optimal actual operating parameters. In the process of controlling the joints of the robot, the control torque is optimized many times, which improves the accuracy of the joint control of the robot.
Description
technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a joint motion control method of an inspection robot and an inspection robot. Background technique [0002] With the rapid development of smart grid and the wide application of robots, transmission line inspection robots have become a hot spot in global robotics research. The inspection robot needs to cross or avoid various obstacles such as towers, anti-vibration hammers, suspension clamps and drainage jumpers, and bear the influence of external excitation such as wind load. If it cannot be effectively controlled, the inspection robot will show complicated Due to the nonlinear dynamic characteristics of the robot, the configuration conversion, obstacle crossing, pose control and stability of the robot cannot be carried out smoothly, resulting in problems such as configuration instability and obstacle crossing failure, which cannot meet the requirements of trans...
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IPC IPC(8): B25J9/16B25J17/00
CPCB25J9/16B25J17/00B25J9/1679
Inventor 李小彭陈延炜杨英男张猛陈仁桢
Owner NORTHEASTERN UNIV LIAONING