基于力觉临场感的带电作业机器人遥操作控制系统设计  

Teleoperation Control Design of Electric Power Operation and Maintenance Live Working Robots Based on Force Sensing and Presence

作　　者：薛飞 胡一峰 何星晔 侯楚焓 刘雨豪 刘辽雪 XUE Fei;HU Yifeng;HE Xingye;HOU Chuhan;LIU Yuhao;LIU Liaoxue(Changzhou Power Supply Branch,State Grid Jiangsu Electric Power Co.,Ltd.,Changzhou 213000,China;Nanjing University of Science and Technology,Nanjing 210094,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 [2]南京理工大学,江苏南京210094

出　　处：《机械与电子》2025年第4期58-63,共6页Machinery & Electronics

基　　金：国家电网有限公司科技项目资助项目(J2023016)。

摘　　要：带电作业机器人的各种复杂精细任务对遥操作的临场感存在较强的依赖性,良好的临场感能够提高遥操作的控制精度。为了增强操作人员遥操作的临场感,提高遥操作控制精度,设计了一种基于力觉临场感的遥操作控制系统。为解决力传感器数据受噪声干扰的问题,设计了自适应卡尔曼滤波器,有效降低了噪声对遥操作控制的影响。针对机械臂速度控制导致的位置误差累积问题,采用位置误差消除算法和反馈约束力,实现了遥操作控制的准确性。最后进行了基于力觉临场感的遥操作抓取实验,验证了遥操作控制系统中力觉临场感的有效性,提高了遥操作的控制精度。The various complex and precise tasks of live working robots have a strong dependence on the presence of remote operations,and good presence can improve the control accuracy of remote operations.To enhance the telepresence of operators and improve the accuracy of remote operation control,this paper designs a remote operation control system based on force-sensing telepresence.An adaptive Kalman filter was designed to address the issue of noise interference in force sensor data,effectively reducing the impact of noise on remote operation control.In response to the problem of accumulated position errors caused by speed control of robotic arms,a position error elimination algorithm and feedback constraints were adopted to achieve the accuracy of remote operation control.Finally,a teleoperation grasping experiment based on force-sensing was conducted to verify the effectiveness of force-sensing in the teleoperation control system and improve the control accuracy of teleoperation.

关 键 词：带电作业机器人 遥操作 力觉临场感 力反馈 卡尔曼滤波 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]