高压绝缘子清扫机器人的运动优化

研究了高压绝缘子带电清扫机器人的振动控制问题，提出了以升降臂的残余应变能为性能指标，应用极小值原理优化清扫臂伸缩运动的加速度，降低升降臂残余振动的方法．针对包含两点边值问题的优化问题，给出了用满足边界约束条件下，加速度离散节点的三次样条插值曲线逼近加速度曲线的数值解法，并将得到的优化轨迹的减振效果与经过优化的梯形速度曲线进行了比较．结果表明，该方法可以更有效地降低升降臂的残余振动．

Motion Optimization of a Cleaning Robot for Hotline Insulators

In order to control the vibration of a cleaning robot for hotline insulators, an approach was proposed to reduce residual vibration of the flexible elevating link by optimizing acceleration of the rigid link using Pontryagin maximum principle (PMP). The performance measurement is the energy of residual deflection. A numerical solution to the proposed optimization problem including a two-point boundary-value problem (2PBVP) was proposed. The profile of acceleration is approximated by interpolating discrete knot points with cubic spline subject to boundary constrains. The vibration reduction of flexible elevating link by the optimal acceleration is compared with that by the optimal trapzoid velocity. The result shows that the proposed motion optimization method can reduce residual vibration more effectively.