模糊控制法在电缆机器人视觉定位的应用研究  

Application of Fuzzy Control Method in Visual Positioning of Cable Robot

作　　者：刘东省 周磊 郑杰 邹茂青 LIU Dongsheng;ZHOU Lei;ZHENG Jie;ZOU Maoqing(Qujing Power Supply Bureau,Yunnan Power Grid Co.,Ltd.,Yunnan Qujing 655000,China)

机构地区：[1]云南电网有限责任公司曲靖供电局,云南曲靖655000

出　　处：《机械设计与制造》2024年第12期328-333,共6页Machinery Design & Manufacture

基　　金：中国南方电网有限公司科技项目—0.4kV低压配电线路带电搭火作业智能机器人关键技术研究与应用(YNKJXM20190837)。

摘　　要：针对电缆移动机器人螺栓拧紧的操作效率,提出基于模糊逻辑的视觉定位控制方法。根据电缆线路的结构特点,提出了螺栓的自主搜索方法,得出机械手的姿态控制参数,以机械手螺栓螺母的相对姿态和倾斜角度为控制变量,设计了二维模糊机器人视觉定位控制器。通过对控制参数的动态调整,可以得到最优位置运动控制参数,并用于机器人的运动控制。将所提出的模糊控制算法用于螺栓定位控制,并与传统PID控制方法进行了性能比较。仿真结果表明该模糊控制算法大幅提高了实时作业机械手的定位精度和作业效率。Aiming at the operating efficiency of bolt tightening of the cable mobile robot,a vision positioning control method based on fuzzy logic is proposed.According to the structural characteristics of the cable line,an autonomous bolt search method is proposed,and the attitude control parameters of the manipulator are obtained.With the relative attitude and tilt angle of the bolt and nut of the manipulator as the control variables,a two-dimensional fuzzy robot vision positioning controller is designed.Through the dynamic adjustment of the control parameters,the optimal position motion control parameters can be obtained and used for the motion control of the robot.The proposed fuzzy control algorithm is used for bolt positioning control,and the performance is compared with the traditional PID control method.The simulation results show that the fuzzy control algorithm greatly improves the positioning accuracy and operation efficiency of the real-time operation manipulator.

关 键 词：模糊逻辑 电缆机器人 螺栓拧紧 视觉定位控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP241.2[自动化与计算机技术—检测技术与自动化装置]