基于有限状态机的绝缘子检测机器人越障控制  

Obstacle Crossing Control of Insulator Detection Robot Based on Finite State Machine

作　　者：刘宁波 张静鑫 舒莹 LIU Ningbo;ZHANG Jingxin;SHU Ying(Anhui Mingsheng Hengzhuo Technology Co.,Ltd.,Hefei 230093,China)

机构地区：[1]安徽明生恒卓科技有限公司,安徽合肥230093

出　　处：《机械与电子》2024年第4期66-70,共5页Machinery & Electronics

基　　金：安徽明生恒卓科技有限公司项目(HZRD2022005)。

摘　　要：为提升机器人的越障控制效果,提出基于有限状态机的绝缘子检测机器人越障控制方法。该方法首先对机器人具体结构展开分析,基于分析结果获取机器人控制系统动力学方程;结合有限状态机理论建立机器人越障时的各项参数状态集合,获取机器人越障姿态序列,建立机器人越障控制模型;再根据建立的越障控制目标函数,结合B样条曲线跟踪方法对模型实施求解,获取模型最佳越障路径规划结果,实现绝缘子检测机器人的越障控制。实验结果表明,使用该方法开展机器人越障控制时,控制方法的控制性能高、控制效果好。In order to improve the obstacle surmounting control effect of the robot,the obstacle surmounting control method of insulator detection robot based on finite state machine is proposed.Firstly,the specific structure of the robot is analyzed,and the dynamic equations of the robot control system are obtained based on the analysis results.Combined with the finite state machine theory,the state sets of various parameters when the robot surmounts obstacles are established,the posture sequence of the robot surmounts obstacles is obtained,and the control model of the robot surmounts obstacles is established.Then,according to the established obstacle crossing control objective function,combined with the B spline curve tracking method,the model is solved to obtain the best obstacle crossing path planning result of the model,so as to achieve the obstacle crossing control of the insulator detection robot.The experimental results show that the control performance of this method is high and the control effect is good.

关 键 词：有限状态机理论 绝缘子检测机器人 越障控制 动力学分析 越障控制模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]