电气设备操控用机械臂运动控制模块设计  

Design of Motion Control Module for Robotic Arm Used in Electrical Equipment Operation

作　　者：彭涛 PENG Tao(Changzhou Power Supply Branch,State Grid Jiangsu Electric Power Co.,Ltd.,Changzhou,Jiangsu 213000,China)

机构地区：[1]国网江苏省电力有限公司常州供电分公司,江苏常州213000

出　　处：《自动化应用》2024年第24期85-87,93,共4页Automation Application

摘　　要：在电气设备操控中,深入探讨了机械臂运动控制模块的设计问题,旨在提升自动化生产过程中机械臂的操作准确性。研究人员运用相机标定技术与机械臂逆运动学控制方法,成功构建了电气设备操控用机械臂的精确数学模型,并有效解决了逆运动学关系的求解难题。结果表明,所设计的机械臂运动控制模块在复杂环境下仍能实现精确操作,通过相机标定与逆运动学控制技术的融合,显著增强了机械臂在电气设备操控中的实际应用效果。In depth exploration was conducted on the design issues of the motion control module for robotic arms in electrical equipment operation,aiming to improve the operational accuracy of robotic arms in automated production processes.Researchers have successfully constructed an accurate mathematical model of a robotic arm for electrical equipment control using camera calibration techniques and inverse kinematics control methods,effectively solving the problem of solving inverse kinematics relationships.The results show that the designed motion control module of the robotic arm can still achieve precise operation in complex environments.By integrating camera calibration and inverse kinematics control technology,the practical application effect of the robotic arm in electrical equipment control is significantly enhanced.

关 键 词：电气设备 机械臂 逆运动学 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]