摘要
本文介绍了用于高压输电线路维护的双臂机器人。机器人可以工作于主从模式或自动模式。机器人控制系统采用了开放式结构 ,采取了有效措施隔离高电压和防止干扰。研究了避免两臂相碰撞的算法。采用了视觉信息融合方法来引导机器人操作目标体。
A dual arm robot for maintenance of high voltage power line is introduced in this paper. The control system of the robot has open architecture and the robot can work in master-slave mode or automatic mode. Effective measures have been taken to insulate high voltage and to prevent interference. Algorithms have been developed to avoid the collision between the two arms. Visual informations are integrated for guiding the robot to operate object.
出处
《机床与液压》
北大核心
2003年第5期49-51,共3页
Machine Tool & Hydraulics
基金
国家电力公司项目
项目编号 :SPKJ0 10 - 2 7
山东电力总公司资助项目
项目编号 :鲁电 9912
