基于数字孪生的电力机器人作业控制系统研究与应用  

Research and Application of Electric Robot Operation Control System Based on Digital Twin

作　　者：甘志坚 黄国方 张静[1,2] 刘晓铭 GAN Zhijian;HUANG Guofang;ZHANG Jing;LIU Xiaoming(NARI Group Corporation(State Grid Electric Power Research Institute),Nanjing 211106,China;NARI Technology Co.,Ltd.,Nanjing 211106,China)

机构地区：[1]南瑞集团(国网电力科学研究院)有限公司,南京211106 [2]国电南瑞科技股份有限公司,南京211106

出　　处：《机械工程师》2023年第12期89-93,共5页Mechanical Engineer

基　　金：国电南瑞科技项目资助(524608220021)。

摘　　要：电力场景复杂多变,机器人自主作业具有一定危险性。机器人运动控制如果出现错误,将带来不可预估的破坏和影响,所以机器人面对执行实际任务之前,非常有必要对作业任务和功能算法通过仿真形式进行验证,以及在作业过程中对机器人状态和与环境交互数据进行实时监控,确保机器人安全可靠完成作业任务。文中提出了一种基于数字孪生的电力机器人作业控制系统与配网带电作业应用,从作业环境建模、机器人建模、运动学分析、路径规划、碰撞检测等方面构建数字孪生系统。并且搭建配网带电作业机器人剥线任务作业实验平台进行作业仿真在线监控实验验证。实验结果表明,该系统能够有效实现电力机器人的配网作业仿真和在线监控。In view of the complexity of power scene,robot autonomous operation has certain risks.If the robot motion control is wrong,it will bring unpredictable damage and impact,so before the robot faces the actual task,it is very necessary to verify the job task and functional algorithm through simulation,and monitor the robot status and interactive data with the environment in real time during the operation process to ensure that the robot completes the job task safely and reliably.Therefore,this paper proposes a kind of electric robot operation control system based on digital twin and the application of distribution network live operation.The digital twin system is constructed from the aspects of operation environment modeling,robot modeling,kinematic analysis,path planning,collision detection and so on.In addition,an experimental platform for the wire stripping task of the distribution network live working robot is built for the online monitoring experiment verification of the operation simulation.The experimental results show that the proposed system can effectively realize the distribution network operation simulation and online monitoring of electric robot.

关 键 词：数字孪生 作业仿真 机械臂 碰撞检测 3D监控 

分 类 号：TU714[建筑科学—建筑技术科学] TM08[电气工程—电工理论与新技术]