高技术通讯2025，Vol.35Issue(1)：56-66,11.DOI:10.3772/j.issn.1002-0470.2025.01.006
基于接触位置状态识别的充电枪寻孔策略
Hole searching strategy of charging gun based on contact position state recognition
摘要
Abstract
Aiming at the hole finding process in the charging task of robot carrying charging gun,a robot hole finding strategy based on contact position state recognition is studied.The contact position between the charging gun head and the charging socket during robot hole finding is divided into plane,chamfer and inner wall contact state,the contact force and torque characteristics of different contact position states are analyzed,and a hole finding contact position state recognition method is proposed through support vector machine(SVM)algorithm and voting method.According to the plane contact state,chamfer contact state and inner wall contact state,the corresponding hole tracing trajectory planning methods are proposed,and the force/position hybrid control is used to combine the hole tracing trajectory planning with force tracking admittance control.Finally,based on the robot charging experimental platform,the effectiveness of the proposed algorithm is proved by hole finding experiments.关键词
电动汽车充电/机器人/寻孔策略/支持向量机/力/位混合控制/轨迹规划Key words
electric vehicle charging/robot/hole-finding strategy/support vector machine/force/position hybrid control/trajectory planning引用本文复制引用
徐建明,胡浩海..基于接触位置状态识别的充电枪寻孔策略[J].高技术通讯,2025,35(1):56-66,11.基金项目
国家自然科学基金面上项目(61374103)资助. （61374103）
