核电站履带式开门机器人运动规划

在开启核电站内带有闭门器的防火门时,需要机器人始终抓握门把手运动,而机器人使用的履带式移动载体精度偏低,其运动误差会带来较大的作用力,威胁机器人安全。针对这一问题,提出一种移动载体和机械臂同步运动的开门作业运动规划,令移动载体保持匀速直线运动,通过控制机械臂尽量少的关节转动来带动门打开,同时令一个关节自由运动以跟随门的旋转姿态。该方法能够降低运动误差,减小机器人与门的接触力和机械臂关节力矩,提高误差容忍度。

Door-Opening Motion Planning of a Robot with Tracked Mobile Basefor Nuclear Power Plants

When opening the fire-proof door with a door closer in nuclear power plants, the robot needs to hold the door handle throughout its movement. However, the low accuracy of the tracked mobile baseleads toposition error, which causeslarge contact force and joint forceand makes the robot unsafe.In this paper a motion planning is proposed, in which the mobile base and robot arm moves synchronously. The mobile base moves in constant speed without turning, while the robot arm drives the least amount of joints to open door, and keepsa joint move freely to follow the door gesture. This method could lower motion error, reduce contact force and joint force, and improve itstolerance of motion error.