基于蒙特卡罗方法的除冰机器人作业空间边界提取

Workspace boundary extraction of de-icing robot based on Monte Carlo method

中文关键词  输电线  除冰机器人  工作空间  蒙特卡罗方法

英文关键词  over-head line  de-icing robot  workspace  Monte Carlo method

中文摘要

      设计了一种输电线路除冰机器人的机械结构, 分析了该机构的作业空间问题. 在计算过程中, 引入Monte Carlo方法得到了机器人操作臂的工作空间. 采用该方法可避免对机器人运动方程的求逆解计算, 极大地简化了计算过程. 分析并指出传统的机器人工作空间边界提取方法精度有限, 且存在理论上的缺陷; 提出了一种新的基于局部点象限分布的边界点提取方法, 文中给出的算例表明, 该方法不仅精度高, 并且非常适合于处理机器人工作空间边界问题.

英文摘要

      A mechanical configuration is designed for the de-icing robot of high voltage power transmission lines; the workspace of the manipulator is analyzed and generated by using the Monte Carlo method. Since the method involves no inverse calculation of manipulator kinematics, it greatly simplifies the calculation and improves the calculation efficiency. The analysis shows that traditional methods of extracting workspace boundary are inaccurate and with theoretical defects. We advance a new method based on the local point quadrant pattern. The results show that this method is accurate enough for extracting the workspace boundary of the robot.