Trajectory Planning of Transformer Cleaning System Based on IRB4600 Robotic Arm

摘要：

　　Clean with power for oil-immersed transformer by robotic arm is investigated.We establish kinematic model of IRB4600 Robotic Arm,coordinate transfer is analyzed.Space near inline and outline of transformer is treated as obstacle,surface to be sprayed is departed into several areas,and RRT algorithm is modified in form of point to multi-points to search optimal path for cleansing.Simulation and test by virtual robot platform show that scheme proposed in this paper is valid.

关键词： Transformers IRB4600 robotic arm Trajectory planning

作者: Yong-qiang LI Wei-cai LIU Zhi-fei ZHANG

作者单位: Guangdong Raising Synthesis Energy Services Co.,Ltd,Foshan,China School of Automation,Foshan University,Foshan,China

会议类型: 国际会议

会议名称: 2020 2ND INTERNATIONAL CONFERENCE ON ADVANCED CONTROL, AUTOMATION AND ARTIFICIAL INTELLIGENCE(ACAAI 2020)(2020年第二届高级控制、自动化和人工智能国际会议)

会议地点: 武汉

会议语种:英文

页码: 12-23

在线出版日期: 2020-01-12（万方平台首次上网日期，不代表论文的发表时间）