串联多臂式巡检机器人控制策略及轨迹规划方法

以一款三臂式巡检机器人为例，对其进行分层规划控制策略分析，将其分为线路信息库层、动作规划层和执行规划层.线路信息库层根据高压输电线路上的已知信息所得，其中包括障碍物种类、位置、数量等信息.规划层和执行规划层根据有限状态机理论总结为当输入事件为a(第二层动作规划层)时，在f(第三层执行层)的作用下，将状态q(机器人起始状态)映射到状态p(机器人终止状态).最后对该款机器人的轨迹规划进行了Matlab仿真和样机实验，结果验证了该控制策略及轨迹规划方法有效性.

Control Strategy and Trajectory Planning of Serial Multi-arm Inspection Robots

With a three-arm inspection robot taken as an example， a hierarchical planning control strategy was analyzed and divided into a line information library layer， an action planning layer and an execution planning layer. The line information library layer is based on the known information of the high-voltage transmission line to be detected， including information on the type， location， and quantity of obstacles. The overall action planning layer and the execution planning layer are summarized according to the finite-state machine theory that when the input event is a (the second layer of the action planning layer)， under the action of f (the third layer of the execution layer)， the state q (the robot’s initial state) is mapped to the state p (the robot’s termination state). In the end， the trajectory planning of this robot was simulated by Matlab and the experiment of the prototype laboratory spanning the anti-vibration hammer and overhanging metal fittings， whose results verified the effectiveness and feasibility of the control strategy and the trajectory planning method.