配电线路维护机器人虚拟现实仿真系统设计  

Simulation System Design for Live-Line Maintenance Robot Based on Virtual Reality Technology

作　　者：陆怀谷 杨光 李光彦 郭毓[2] LU huai-gu;YANG Guang;LI Guang-yan;GUO Yu(Changzhou Power Supply Company,State Grid Jiangsu Electric Power Company,Changzhou Jiangsu 213000,China;School of Automation,Nanjing University of Science and Technology,Nanjing Jiangsu 210094,China)

机构地区：[1]国网江苏省电力有限公司常州供电分公司,江苏常州213000 [2]南京理工大学自动化学院,江苏南京210094

出　　处：《计算机仿真》2021年第1期301-306,共6页Computer Simulation

基　　金：国网江苏省电力有限公司科技项目(J2017099);江苏省重点研发计划项目(BE2017161)。

摘　　要：针对配电线路维护机器人遥显示和在线作业轨迹规划的应用需要,设计了一套机器人虚拟现实三维仿真系统。通过将机械臂姿态信息实时传输到虚拟现实环境中,实现了作业场景3D遥显示功能;根据机器人带电作业需求,设计了一种基于虚拟现实环境的机械臂轨迹规划运动学仿真软件,可在三维虚拟空间测试机械臂作业路径的可行性,具有直观、安全和高效的特点。上述系统为配电线路维护机器人完成带电作业任务创造了良好的条件。Aiming at the application needs of the live-line maintenance robot tele display and online operation trajectory planning,a set of robot virtual reality 3 D simulation system was designed.The robot arm attitude information was transmitted to the virtual reality environment in real time,and the 3 D telescopic display function of the work scene was realized.According to the robot live working demand,a kinematics simulation software for the robot arm trajectory planning was designed based on the virtual reality environment.The virtual space tests the feasibility of the robot arm working path,which is intuitive,safe and efficient.The system has created favorable conditions for the distribution line maintenance robot to complete the live working task.

关 键 词：配电线路维护机器人 虚拟现实 轨迹规划 运动学仿真 

分 类 号：TP31[自动化与计算机技术—计算机软件与理论]