摘要
针对电力系统高压带电作业机械臂作业过程中的姿态监测问题,研制了一种高压带电作业机械臂姿态监测系统,并提出了基于四元数法的姿态监测算法。首先,由加速度传感器、陀螺仪、地磁传感器和Zigbee无线通信单元组成的监测单元安装在机械臂各关节任意位置,并结合四元数算法,精确测量机械臂各关节的三维空间角度,同时,通过Zigbee无线通信单元,将各关节三维空间角度上传至监控终端;然后,监控终端通过简单的三角函数和迭加计算,即可快速得到机械臂各关节的实时位姿,并进行显示;最后,以美国Kraft公司生产的Grips机械臂为例,建立了基于四元数的机械臂运动学模型并进行了仿真实验,实验结果表明所提出的系统和方法测量精度可达0.05°,同时计算时间可缩短至1 ms。实验结果证明了所提出的系统及方法的有效性和高效性。
In order to solve problems of posture monitoring for high-voltage electric power live line working manipulator, we presented a posture monitoring system and an algorithm based on quaternion. Firstly, the posture monitoring units including accelerometer, gyroscope, geomagnetism and Zigbee wireless communication unit, are installed on an arbitrary space of each joints of high-voltage electric power live line working manipulator, relying on the quaternion algorithm, the space angles of each joints can be measured accurately and transmitted to monitoring terminal through Zigbee concurrently. Then, only following simple trigonometric function and iterative analysis, the real-time position analysis of each joints could be obtained and displayed in real time. Finally, taking the Grips manipulator for example, which is made by Kraft Corp, we established a dynamic model based on the quaternion and achieved the simulation. Simulation results verify that the measuring accuracy of the system and algorithm is as high as 0.05°, and the computation time is shortened to 1 ms. Simulation results verify the validity and high efficiency of the system and the algorithm.
出处
《高电压技术》
EI
CAS
CSCD
北大核心
2015年第3期931-936,共6页
High Voltage Engineering
基金
国家高技术研究发展计划(863计划)(2012AA041506)~~
作者简介
刘存根,1982～，男，硕士，讲师,主要从事机器人运动控制方面的研究工作,E—mail：littleeggs@sdjzu．edu．cn
鲁守银,1968-，男，博士，教授,主要从事机器人自动控制的研究工作,E—mail：sdznjqr@163．Com
