约束条件下的巡线机器人逆运动学求解

高压输电线路巡检机器人是一种多关节悬挂运动机构,要实现其运动控制就需要根据机器人的本身机构特点和悬挂系统的运动约束条件进行运动学分析.本文利用微分扭转法对巡线机器人的正向运动学进行了求解,并通过对机器人悬挂系统的力学分析,得到了机器人运动学的约束条件,并在这种约束条件下,采用了一种可用来进行实时控制的迭代循环坐标下降(CCD)算法,来进行机器人的逆运动学求解.这种迭代算法对于有运动约束系统的逆运动学求解具有较强的适用性,而且它具有较好的收敛性和有效性,适合于在线计算,便于巡线机器人的实时运动控制.

Analysis of solution to the inverse kinematics of inspection robot for power transmission lines with constraints

The inspection robot of high-voltage power transmission lines is a mechanical system of multiple-joint suspending mechanism.In order to control the motion of the robot,kinematics analysis should be done on the basis of mechanical characters of the robot and the constraints for the suspending system.For the inspection robot of power transmission lines,the kinematics formulations are deduced by using the twist analysis method.Based on the mechanical analysis of the inspection robot of power transmission lines,the constraints of robot kinematics are obtained.A cyclic-coordinate descent(CCD) iterative algorithm is used to solve the inverse kinematics of the inspection robot with constraints.The recursion algorithm is compatible for inverse kinematics of systems with constraints.Furthermore,it is well convergent and efficient for calculation.This algorithm is compatible with on-line computation and advantageous to the dynamic control of inspection robot.