Robot arm path planning control device and method of live working robot

A technology for path planning and live work, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as affecting precise operation, low work efficiency, and low degree of robot automation, and achieve the effect of improving computing efficiency and saving time.

Active Publication Date: 2020-09-11
天津滨电电力工程有限公司 +4
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  • Abstract
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Problems solved by technology

[0002] When the live work robot is used to connect the distribution line and disconnect the lead wire, etc., it is necessary to manually set the path and control the insulating bucket truck to move the robotic arm of the robot to the preliminary working position. The artificially set path is only based on the operating site. The estimated path is not the optimal path, which will make it difficult for the robotic arm to reach the optimal working position, affecting its precise operation, and the way of artificially setting the path makes the robot's automation degree low, resulting in low work efficiency

Method used

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  • Robot arm path planning control device and method of live working robot
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  • Robot arm path planning control device and method of live working robot

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[0037] In the following description, numerous specific details are given in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that embodiments of the invention may be practiced without one or more of these details. In other examples, some technical features known in the art are not described in order to avoid confusion with the embodiments of the present invention.

[0038] In order to thoroughly understand the embodiments of the present invention, a detailed structure will be set forth in the following description. It is evident that practice of the embodiments of the invention is not limited to specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below, however, the present invention may have other embodiments besides these detailed descriptions.

[0039] In the description of the present invention, the orientation or posit...

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Abstract

The invention discloses a robot arm path planning control device and method of a live working robot. The control device comprises a state sensor, an action selector, an evaluation signal generator anda dynamic update mechanism. The method obtains the solution mainly based on a cube space division method, a reinforcement learning algorithm and inverse kinematics, and relies on the control device to generate an optimal path. A path can be accurately planned, so that the robot reaches the target position from the initial position and bypass the surrounding obstacles, and the autonomous operationof the live working robot is achieved.

Description

technical field [0001] The invention relates to the field of live working robots on power lines, in particular to a path planning control device and method for a mechanical arm of a live working robot. Background technique [0002] When the live work robot is used to connect the distribution line and disconnect the lead wire, etc., it is necessary to manually set the path and control the insulated bucket truck to move the robot's mechanical arm to the preliminary working position. The artificially set path is only based on the operating site. The estimated path is not the optimal path, which will make it difficult for the robot arm to reach the optimal working position, affecting its precise operation, and the way of artificially setting the path makes the robot's automation degree low, resulting in low work efficiency. Contents of the invention [0003] The purpose of the present invention is to make up for the deficiencies of the prior art, and to provide a path planning...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1612B25J9/1664B25J9/1666
Inventor 张黎明杨磊胡益菲郗晓光张驰姚瑛李琳祖国强季大龙刘力卿吴波宋鹏先任书楠王楠张昕刘书玉路菲
Owner 天津滨电电力工程有限公司
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