应用于远程带电作业机械臂的遥操作控制方案研究  

Research on the Teleoperation Control Scheme for Remote Live Working Manipulators

作　　者：张树欣 黄晨宏 郑真 周琪 黄立成 ZHANG Shuxin;HUANG Chenhong;ZHENG Zhen;ZHOU Qi;HUANG Licheng(Qingpu Power Supply Company of State Grid Shanghai Electric Power Company,Shanghai 201700,China;Shanghai Fuze Energy Technology Company,Shanghai 200025,China)

机构地区：[1]国网上海市电力公司青浦供电公司,上海201700 [2]上海服泽能源科技有限公司,上海200025

出　　处：《电网与清洁能源》2022年第10期11-16,34,共7页Power System and Clean Energy

基　　金：国家自然科学基金项目(61603332)。

摘　　要：带电作业机械臂在远程控制下能够代替电工作业人员执行一些具有危险性的任务。为进一步提升作业机械臂的远程控制能力和作业精准度,该文以机械臂的运动学模型分析和波变量遥操作结构优化为基础,提出了作业机械臂的新型遥操作控制方案,设计视觉反馈和分段力反馈机制以实现操作者对机械臂作业情况的感知。仿真结果显示该遥操作系统能够实现良好的机械臂运动控制和轨迹跟随性能,可以使操作者及时感知机械臂作业情况并据此调整其控制行为,为作业机械臂在远程带电任务中的安全、精确作业提供了解决思路。The live working manipulator can replace electricians to perform some dangerous tasks under remote control. To improve the remote control capability and operation accuracy of the manipulator,a new teleoperation system of the manipulator is proposed in this paper based on the kinematic analysis and modified wave variable-based teleoperation structure. Furthermore,to realize operators’ perception,an optical feedback method and a segmented force feedback generation algorithm are presented. The simulation experiments have verified the motion control and trajectory tracking performance of the manipulator and the benefits of the force feedback algorithm,which could present solutions and schemes for the safe, and accurate operation of the live working manipulator in the remote tasks.

关 键 词：带电作业 机械臂 运动控制 遥操作控制 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]