A double mechanical arm cooperative control system for distribution box cable installation
By combining visual perception, path planning, and adaptive impedance control, the problems of unstable target positioning and uneven trajectory execution in the installation of cables in distribution boxes are solved, thus achieving an efficient and safe cable installation process.
CN122401418APending Publication Date: 2026-07-17NANJING UNIV OF SCI & TECH
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- NANJING UNIV OF SCI & TECH
- Filing Date
- 2026-05-28
- Publication Date
- 2026-07-17
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Figure CN122401418A_ABST
Abstract
本发明公开了一种用于配电箱线缆安装的双机械臂协同控制系统。该系统包括视觉感知模块、任务决策模块、路径规划模块、轨迹生成模块和变阻抗控制模块。系统通过图像实例分割与三维点云聚类技术精准估计柔性线缆位姿；采用分阶段搜索策略与神经网络预测引导的快速随机扩展树算法，实现狭小空间内高效的双臂避障与防碰撞路径规划；利用B样条平滑及自适应时间参数化生成满足物理约束的最优轨迹；基于LSTM网络识别关节电流序列以辨识末端接触状态，在线动态调整阻抗参数。本发明有效解决了受限空间内目标定位不稳、协同避障困难及柔顺性不足等问题，显著提升了线缆安装的精度、效率与安全性。
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