Intelligent gripper structure for catenary arm installation and control method

Abstract

The application discloses an intelligent clamping jaw structure for catenary cantilever installation and a control method. The improved iterative closest point algorithm is used for registration and matching of real-time scanned point cloud data and a preset three-dimensional model of the cantilever. The data frame in the dynamic adjustment optimization window is adopted to perform smoothing processing on the registration result, effectively suppresses the jump problem that may occur in the single-frame registration process in the high-speed movement of the cantilever, and innovatively directly incorporates the inertial measurement unit data into the construction process of the loss function, further improving the accuracy and robustness of the registration. By optimizing the window size, the balance between real-time performance and accuracy requirements is achieved, and the spatial coordinates and attitude angles of the insulators are accurately extracted. The visual data is mapped to the mechanical arm control coordinate system through the coordinate conversion matrix, ensuring the real-time data synchronization of the visual system and the clamping jaw adjusting device. The application is suitable for various types of cantilevers, has high automation and high precision, and effectively improves the installation efficiency.

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