【摘要】：針對(duì)電力系統(tǒng)高壓帶電作業(yè)機(jī)械臂作業(yè)過程中的姿態(tài)監(jiān)測(cè)問題,研制了一種高壓帶電作業(yè)機(jī)械臂姿態(tài)監(jiān)測(cè)系統(tǒng),并提出了基于四元數(shù)法的姿態(tài)監(jiān)測(cè)算法。首先,由加速度傳感器、陀螺儀、地磁傳感器和Zigbee無線通信單元組成的監(jiān)測(cè)單元安裝在機(jī)械臂各關(guān)節(jié)任意位置,并結(jié)合四元數(shù)算法,精確測(cè)量機(jī)械臂各關(guān)節(jié)的三維空間角度,同時(shí),通過Zigbee無線通信單元,將各關(guān)節(jié)三維空間角度上傳至監(jiān)控終端;然后,監(jiān)控終端通過簡(jiǎn)單的三角函數(shù)和迭加計(jì)算,即可快速得到機(jī)械臂各關(guān)節(jié)的實(shí)時(shí)位姿,并進(jìn)行顯示;最后,以美國(guó)Kraft公司生產(chǎn)的Grips機(jī)械臂為例,建立了基于四元數(shù)的機(jī)械臂運(yùn)動(dòng)學(xué)模型并進(jìn)行了仿真實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果表明所提出的系統(tǒng)和方法測(cè)量精度可達(dá)0.05°,同時(shí)計(jì)算時(shí)間可縮短至1 ms。實(shí)驗(yàn)結(jié)果證明了所提出的系統(tǒng)及方法的有效性和高效性。
[Abstract]:Aiming at the problem of attitude monitoring in high voltage live working manipulator in power system, a attitude monitoring system for high voltage live working manipulator is developed, and an attitude monitoring algorithm based on quaternion method is proposed. First of all, the monitoring unit composed of acceleration sensor, gyroscope, geomagnetic sensor and Zigbee wireless communication unit is installed in any position of the joints of the manipulator, and combined with the quaternion algorithm, the three-dimensional spatial angle of each joint of the manipulator is accurately measured. At the same time, through the Zigbee wireless communication unit, the three dimensional angle of each joint is uploaded to the monitoring terminal. Then, through simple trigonometric function and superposition calculation, the monitoring terminal can quickly get the real-time pose of each joint of the manipulator and display it. Finally, taking the Grips manipulator produced by Kraft Corporation as an example, the kinematics model of the manipulator based on quaternion is established and simulated. The experimental results show that the measurement accuracy of the proposed system and method can reach 0.05 擄. Simultaneous calculation time can be shortened to 1 ms. The experimental results show that the proposed system and method are effective and efficient.
【作者單位】： 山東建筑大學(xué)信息與電氣工程學(xué)院;國(guó)網(wǎng)山東省電力公司電力科學(xué)研究院;
【基金】：國(guó)家高技術(shù)研究發(fā)展計(jì)劃(863計(jì)劃)(2012AA041506)~~
【分類號(hào)】：TM84;TP274

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