基于物联网的智能绝缘涂覆机器人远程控制系统  

Remote Control System of Intelligent Insulation Coating Robot Based on Internet of Things

作　　者：陆茂鑫 蒋申晨 王昭夏 LU Mao-xin;JIANG Shen-chen;WANG Zhao-xia(State Grid Shanghai Shibei Electric Power Supply Company,Shanghai 200072 China)

机构地区：[1]国网上海市电力公司市北供电公司,上海200072

出　　处：《自动化技术与应用》2023年第8期62-65,140,共5页Techniques of Automation and Applications

摘　　要：为了提高机器人命令执行精度,提出基于物联网的智能绝缘涂覆机器人远程控制系统。分析系统总体架构,从硬件与软件两部分对远程控制系统进行设计,硬件部分包括电源模块、服务器模块以及数据库模块,使用远距离射频技术并结合物理层调制手段实现远距离的信号连接;系统软件部分采用运动学建模方法结合力学矩阵计算涂覆机器人关节动作完成的精准度,实现涂覆机器人的远程控制。仿真实验证明,所提系统对时延因素的补偿效果较好、动作完成轨迹与预设轨迹吻合度较高,可高效实现远程控制操作。In order to improve the command execution accuracy of robot,a remote control system of intelligent insulation coating robot based on Internet of things is proposed.The overall architecture of the system is analyzed,and the remote control system is designed from two parts:hardware and software.The hardware part includes power module,server module and database module.The long-distance signal connection is realized by using long-distance RF technology and physical layer modulation;In the software part of the system,the kinematics modeling method combined with the mechanical matrix is used to calculate the accuracy of the joint action of the coating robot,so as to realize the remote control of the coating robot.Simulation results show that the proposed system has good compensation effect for time delay,high coincidence between action completion trajectory and preset trajectory,and can effectively realize remote control operation.

关 键 词：智能绝缘涂覆机器人 远程控制技术 远距离射频技术 运动学建模 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]