输电线路除冰机器人的S形曲线加减速算法设计  

Design of S-Shape Curve Acceleration and Deceleration Algorithm of De-Icing Robot for Transmission Line

作　　者：郝晓弘[1] 胡振邦[1] 朱洁[1] 秦睿[2] 

机构地区：[1]兰州理工大学电气工程与信息工程学院,甘肃省兰州市730050 [2]甘肃电力科学研究院,甘肃省兰州市730050

出　　处：《电网技术》2011年第6期194-198,共5页Power System Technology

基　　金：甘肃省国际合作项目(0708WCGA145)

摘　　要：为提高输电线路除冰机器人的工作效率,达到节能的目的,提出了一种将S形曲线应用于机器人运动轨迹规划的方法。该方法充分利用了S形曲线的诸多优点,并对传统的复杂S形曲线算法进行了改进,采用4段加减速后退、2段加速前进的轨迹规划算法,同时还给出了相应的数学描述,最后通过仿真验证了该算法的实用性。To improve the working efficiency of de-icing robot for transmission line and save energy,a method to apply the S-shape curve in the motion trajectory planning of de-icing robot is proposed.In the proposed method,the advantages of S-shape curve are fully utilized and traditional complex S-shape curve algorithm is improved,and corresponding mathematical description of the algorithm,in which four backward acceleration and deceleration stages and two forward acceleration stages are adopted,is given.Simulation results show that the proposed algorithm is available for the de-icing work of transmission line.

关 键 词：S形曲线 除冰机器人 轨迹规划 加减速算法 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]