重庆邮电大学学报（自然科学版）2017，Vol.29Issue(3)：396-402,7.DOI:10.3979/j.issn.1673-825X.2017.03.018
架空输电线巡检机器人的跨障运动轨迹控制
Motion trajectory control of overhead transmission line inspection robot in spanning obstacles
摘要
Abstract
The novel tribrachiation overhead transmission line inspection robot is developed to help solve the maintenance problem of high-vohage transmission lines.The recognition scheme and movement scheme of spanning obstacles are put forward.The motion of spanning obstacles is simplified.With D-H(Danevit-Hartenberg) modeling method,kinematics modeling is established.On this basis,dynamic modeling is completed by Lagrange Mechanics method.Considering external disturbance and tracking errors,the robust adaptive PD control method is adopted for solving the trajectory tracking problem.In order to validate this method,the traditional PD control method is added.Using the ideal trajectory as the target trajectory,simulation trajectory of two methods are obtained by Simulink respectively.Carrying the two methods successively,the inspection robot run on the real line and the trajectory is obtained by sensors.The experimental results show that the trajectory of both methods is very close to the target trajectory.Compared with two methods by the tracking trajectory,the validity,stability and superiority of the adopted method are verified.关键词
巡检机器人/动力学模型/运动轨迹控制/鲁棒自适应PD控制Key words
inspection robot/dynamic modeling/trajectory control/robust adaptive PD control分类
信息技术与安全科学引用本文复制引用
刘国平,缪航,俞振东,孙茂文,秦科技..架空输电线巡检机器人的跨障运动轨迹控制[J].重庆邮电大学学报（自然科学版）,2017,29(3):396-402,7.基金项目
江西省科技支撑计划(00406631100924020)The Science and Technology Support Program of Jiangxi Province(00406631100924020) （00406631100924020）
