管道检测机器人控制系统设计与运动研究  

Design of Pipe inspection robot control system of and Research of its kinematics

作　　者：蔡辉[1] 李孟秋[1] 郭金辉[1] 王欣[2] 

机构地区：[1]湖南大学电气与信息工程学院,湖南长沙岳麓山410082 [2]中国矿业大学信息与电气工程学院,江苏徐州221116

出　　处：《微计算机信息》2012年第10期85-86,130,共3页Control & Automation

摘　　要：介绍了一种带有三维重建功能的新型管道检测机器人。通过对机器人模型在平面上运动学进行分析,包括机器人直线运动姿态变化分析、转弯运动姿态变化分析,进而设计运动控制算法,对机器人的多个目标参数进行优化,设计出虚拟样机。通过机器人系统设计,包括机械本体、电气系统及软件的设计,制作出样机并搭建实验平台,在平面上进行行走实验,通过实验验证其运动学理论的正确性。其在平面的运动姿态的分析研究,对今后研究管道内部复杂三维曲面路径的运动分析具有一定的铺垫作用。This paper describes a new kind of pipe inspection robot with three-dimensional reconstruction. The control algorithm is designed based on analyzing the kinematic of the robot model in the plane, such as the transform of the robot posture, the linear motion and the curve motion. Next the parameters of multiple targets will be getoptimized. A prototype is rode according to the the design of the virtual prototype. The system is consisting of the mechanical body, the electrical system and the software design, then a good experimental platform will be finished.In the experiment, the robot walks in a plane environment, through comparing and analyz- ing the dates of the experiment , it verifies the correctness of the theory of kinematics . The analysis of the kinematics on the plane would play a role in the future research of the pipeline within the complex surface path .

关 键 词：关键字 管道检测 控制 参数优化 运动学 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]