高压电缆移动作业机器人机械手双闭环自主定位控制

为提高高压输电线路移动作业机器人作业过程的自动化程度及作业效率，在电磁传感器定位作业区的基础上，提出了一种基于BP网络和视觉伺服相结合的移动作业机器人机械手双闭环自主定位控制方法，并设计了双闭环定位控制系统，其中一个闭环采用BP网络求解机械手的逆运动学实现机械手的粗定位，另一个闭环通过视觉伺服获取特征参数实现机械手的精定位，通过粗定位和精定位相结合的方式实现作业机械手与作业对象的自主精准定位与对接控制.仿真实验将作业机械手与螺栓螺母的对准运动控制过程分解为X，Y，Z 3个方向的定位控制，通过控制算法的调节，3个方向的误差以较快的速度和较高的精度收敛到理想值，并且算法对于不同线路参数结构的引流板具有较强的适应性，满足了特种作业机器人控制实时性、稳定性及对于不同线路结构的自适应性的设计要求.通过引流板螺栓紧固现场作业试验验证了本文所提出方法的有效性和工程实用性. 

Manipulator Double Close Loop Autonomous Localization Control of High-Voltage Cable Mobile Operation Robot

In order to improve the automation degree and operation efficiency of operation process of the mobile operation robot for high voltage transmission line,on the premise of operation space positioning by the electromagnetic sensor,a double closed-loop autonomous localization control method was proposed for the robot manipulator based on BP network and visual servo,and a corresponding autonomous localization double closed-loop control system was also designed. In one of the closed-loop,a BP network was used to solve the inverse kinematics of the manipulator so as to achieve rough localization. The other closed-loop was arranged to achieve the fine localization of the manipulator through the visual servo to obtain a feature parameter. Combining the rough localization and fine localization,the autonomous localization and docking control between the operation object and robot manipulator were achieved. The simulation experiment was arranged to divide the alignment control of the manipulator and the bolt/nut into three direction localization controls in X,Y and Z direction. Results show that,through the adjustment of the control algorithm,the error of the three directions can converge to the ideal value at a faster speed and higher precision,and the algorithm can adapt for different parameter structures of the drainage plate,satisfying the need of the special mobile operation robot control in real-time,stability and adaptability for different structure design requirements. Finally,the effectiveness and the practicality of the proposed method were verified by the experiments of the drainage plate bolts field operation.