电力巡检移动操作机控制系统的分析与设计  

Design and Analysis Control System of Electric Inspection Mobile Manipulator

作　　者：戚晖[1] 赵玉良[1] 王明瑞[1] 管瑞清[1] 

机构地区：[1]山东电力研究院,山东济南250002

出　　处：《控制工程》2009年第S2期196-198,共3页Control Engineering of China

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。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 orientation obtained from an on board CCD camera,the mobile manipulator is controlled to catch the target by utilizing the proposed inverse kinematics analysis strategy.The example results show the validity and feasibility of the designed architecture.

关 键 词：嵌入式LINUX 电力巡检 移动操作机 冗余自由度 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TM76[自动化与计算机技术—控制科学与工程]