Abstract
In respond to the problem of the manipulator point to point motion planning of power cable mobile operation robot, a trajectory planning method based on joint motion time standardization combined with time contraction factor is proposed in this paper, the joint motion time is selected as an evaluation parameter of joint trajectory performance, and corresponding, the mapping relationship between trajectory performance and different joint motion time is also studied. Based on the research result and combined with the robot kinetics model, a mixing constraint control method of joint position, velocity and acceleration is proposed so as to realize the continuous, smooth, stable and non-collision obstacle avoidance motion optimization under the condition of joint global state constraints during manipulator operation motion. Compared with the traditional algorithm, the improved algorithm has achieved excellent trajectory performance under the premise of ensuring the safety manipulator motion, and this method can also avoid the occurrence of joint motion overshoot, which not only improve the efficiency of joint space motion but also reduce the energy consumption. Finally, the feasibility and effectiveness of the proposed algorithm are verified through simulation experiments and the engineering practicality of the proposed algorithm is verified by the field operation experiments.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Aridhi S, Lacomme P, Ren L et al (2015) A MapReduce-based approach for shortest path problem in large-scale networks. Eng Appl Artif Intell 41(C):151–165
Bin Z (2011) Trajectory planning of the robot joint space based on multiple constraints. J of Mech Eng 47(21):1–6
Bin Z, Qiang F, Yinlin K (2008) Optimal time trajectory planning of large rigid body attitude system. J Mech Eng 44(8):248–252
Buehringer M, Berchtold J, Buchel M et al (2010) Cable-crawler-robot for the inspection of high-voltage power lines that can passively roll over mast tops. Ind Robot Int J 37(3):256–262
Chiddarwar SS, Babu NR (2012) Optimal trajectory planning for industrial robot along a specified path with payload constraint using trigonometric splines. Int J Autom Control 6(1):39–65
Debenest P, Guarnieri M (2010) Expliner-From prototype towards a practical robot for inspection of high-voltage lines. In: International conference on applied robotics for the power industry. IEEE, pp 1–6
Haddad M, Khalil W, Lehtihet HE (2010) Traiectory pianning of unicycle mobile robots with a trapezoidal-velocity constraint. IEEE Trans Robot 26(5):954–962
Haili X, Xiangrong X, Jian Z (2010) Optimal time and optimal energy rajectory planning for industrial robots. J Mech Eng 46(9):19–25
Kayacan E, Ramon H, Saeys W(2015) Robust trajectory tracking error-based model predictive control for unmanned ground vehicles. IEEE/ASME Transactions on Mechatronics, pp,1–5
Linda MM, Nair NK (2012) Optimal design of multi-machine power system stabilizer using robust ant colony optimization technique. Trans Inst of Meas Control 34(7):829–840
Liu Y, Jia Q, Chen G et al (2015) Multi-objective Trajectory Planning of FFSM Carrying a Heavy Payload. Int J Adv Rob Syst 2015, 12(9):1–10
Marchese AD, Tedrake R, Rus D (2016) Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator. Int J Robot Res 35(8):1000–1019
Mokryani G, Siano P, Piccolo A (2013) Optimal allocation of wind turbines in microgrids by using genetic algorithm. J Ambient Intell Hum Comput 4(6):613–619
Montambault S, Pouliot N (2010) Field experience with LineScout technology for live-line robotic inspection and maintenance of overhead transmission networks. Applied Robotics for the Power Industry (CARPI), pp 1–2
Ni JC, Li L, Qiao F et al (2014) A GS-MPSO-WKNN method for missing data imputation in wireless sensor networks monitoring manufacturing conditions. Trans Inst Meas Control 36(8):1083–1092
Pouliot N, Mussard D, Montambault S (2012) Localization and archiving of inspection data collected on power lines using LineScout technology. Appl Robot Power Ind (CARPI), pp 197–202
Pouliot N, Richard PL, Montambault S (2015) LineScout technology opens the way to robotic inspection and maintenance of high-voltage power lines. IEEE Power Energy Technol Syst J 2(1):1–11
Ramirez D, Ma YB, Bedir S et al (2014) Introduction of a LIDAR-based obstacle detection system on the LineScout power line robot. J Endourol 28(3):330–334
Saravanan R, Ramabalan S, Balamurugan C (2008) Multiobjective trajectory planner for industrial robots with payload constraints. Robotica 26(6):753–765
Sattarpour T, Nazarpour D, Golshannavaz S et al (2016) A multi-objective hybrid GA and TOPSIS approach for sizing and siting of DG and RTU in smart distribution grids. J Ambient Intell Humanized Comput, 1–18
Tao F, Zhao D, Hu Y et al (2008) Resource Service Composition and Its Optimal-Selection Based on Particle Swarm Optimization in Manufacturing Grid System. IEEE Trans Industr Inf 4(4):315–327
Tao F, Hu Y, Zhou Z (2010) Correlation-aware resource service composition and optimal-selection in manufacturing grid. Eur J Oper Res 201(1):129–143
Tao F, Guo H, Zhang L et al (2012) Modelling of combinable relationship-based composition service network and the theoretical proof of its scale-free characteristics. Enterp Inf Syst 6(4):373–404
Tao F, Zuo Y, Xu LD et al (2014) IoT-based intelligent perception and access of manufacturing resource toward cloud manufacturing. IEEE Trans Industr Inf 10(2):1547–1557
Tao F, Cheng J, Cheng Y et al (2017a) SDMSim: A manufacturing service supply–demand matching simulator under cloud environment. Robotics Computer Integrated Manufacturing 45(6):34–46
Tao F, Cheng J, Qi Q et al (2017b) IIHub: an industrial internet-of-things hub towards smart manufacturing based on cyber-physical system. IEEE Trans Industr Inf. https://doi.org/10.1109/TII.2017.2759178
Wang L, Wang H, Chang Y et al (2015) Mechanism design of an insulator leaning robot for suspension insulator strings. In: Robotics and Biomimetics (ROBIO), IEEE International Conference on. IEEE, pp 2217–2222
Funding
The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: this work was supported by National Natural Science Foundation of China (51275363), Natural Science Foundation of Hubei province (2018CFB273).
Author information
Authors and Affiliations
Corresponding authors
Additional information
Publisher’s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Jiang, W., Wu, G., Yu, L. et al. Manipulator multi-objective motion optimization control for high voltage power cable mobile operation robot. J Ambient Intell Human Comput 10, 893–905 (2019). https://doi.org/10.1007/s12652-018-0835-y
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12652-018-0835-y