| 电力巡检移动操作机控制系统的分析与设计 |
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| 引用本文： | 戚晖,赵玉良,王明瑞,管瑞清. 电力巡检移动操作机控制系统的分析与设计[J]. 控制工程, 2009, 0(Z2) |
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| 作者姓名： | 戚晖 赵玉良 王明瑞 管瑞清 |
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| 作者单位： | 山东电力研究院; |
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| 摘 要： | 为了提高电力巡检移动机器人的实时性和可操作性,介绍一种以嵌入式Linux系统为核心的电力巡检移动操作机控制系统的软硬件体系结构。给出移动操作臂的动态模型,并基于D-H方法和公式法,给出基于该体系结构的具有冗余自由度电力巡检移动操作机逆运动学分析。在实验中,利用固定在移动机器人上的CCD摄像机对目标物体进行定位,然后根据目标物体的位姿信息,通过逆运动学分析的结果控制移动操作臂实现了对目标物体的抓取操作。进一步分析说明了所设计的体系结构的合理性和可行性。
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| 关 键 词： | 嵌入式Linux 电力巡检 移动操作机 冗余自由度 |
Design and Analysis Control System of Electric Inspection Mobile Manipulator |
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| QI Hui,ZHAO Yu-liang,WANG Ming-rui,GUAN Rui-qing. Design and Analysis Control System of Electric Inspection Mobile Manipulator[J]. Control Engineering of China, 2009, 0(Z2) |
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| Authors: | QI Hui ZHAO Yu-liang WANG Ming-rui GUAN Rui-qing |
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| Affiliation: | Shandong Electric Power Research Institute;Jinan 250002;China |
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| Abstract: | To improve the real-time and operability of electric inspection mobile robot,the software and hardware architecture of electric inspection mobile manipulator control system based on embedded Linux are introduced.A simplified dynamic model is developed for the mobile manipulator,and based on D-H method and formula method,inverse kinematics analysis for electric inspection mobile manipulator with redundant degrees of freedom is presented.In these experiments,based on the information of the target position and... |
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| Keywords: | embedded Linux electric inspection mobile manipulator redundant degree of freedom |
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