Research on Path Planning of Substation X-Robot

Guangchao Hao; Ronghai Liu; Shuting Wan

doi:doi:10.11648/j.epes.20190801.13

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Research on Path Planning of Substation X-Robot

Guangchao Hao, Ronghai Liu, Shuting Wan

Published in American Journal of Electrical Power and Energy Systems (Volume 8, Issue 1)

Received: 27 December 2018 Accepted: 24 January 2019 Published: 12 March 2019

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Abstract

In this paper, according to the environment of the robot in the substation, firstly, the D-H mathematical modeling of the UR10 manipulator is built and the forward and inverse kinematics of the UR10 manipulator are solved by studying the basic knowledge of the manipulator. Secondly, aiming at the problems existing in the traditional artificial potential field method, the improved artificial potential field method is studied and the principle that the link of the manipulator can not collide with obstacles is studied. The collision detection algorithm is added and the collision detection of cylindrical bounding box is designed. Then according to the starting position of the end of the manipulator and the position of the obstacle, the moving path of the end of the manipulator is determined. Finally, the improved artificial potential field method is used in MATLAB to simulate the moving path of the UR10 manipulator, and field tests are carried out to verify the effectiveness of the improved artificial potential field method and collision detection of cylindrical bounding box in the path planning. These methods can make the robot reach the designated detection position perfectly in the process of walking in the substation and also avoid the collision between the manipulator and the obstacle (substation electrical equipment and building, etc.). The application of X-ray detection equipment in substation becomes more intelligent.

Published in	American Journal of Electrical Power and Energy Systems (Volume 8, Issue 1)
DOI	10.11648/j.epes.20190801.13
Page(s)	23-32
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2019. Published by Science Publishing Group

Keywords

D-H Mathematical Modeling, Manipulator, Collision Detection, Improved Artificial Potential Field Method

References

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APA Style

Guangchao Hao, Ronghai Liu, Shuting Wan. (2019). Research on Path Planning of Substation X-Robot. American Journal of Electrical Power and Energy Systems, 8(1), 23-32. https://doi.org/10.11648/j.epes.20190801.13

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ACS Style

Guangchao Hao; Ronghai Liu; Shuting Wan. Research on Path Planning of Substation X-Robot. Am. J. Electr. Power Energy Syst. 2019, 8(1), 23-32. doi: 10.11648/j.epes.20190801.13

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AMA Style

Guangchao Hao, Ronghai Liu, Shuting Wan. Research on Path Planning of Substation X-Robot. Am J Electr Power Energy Syst. 2019;8(1):23-32. doi: 10.11648/j.epes.20190801.13

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@article{10.11648/j.epes.20190801.13,
  author = {Guangchao Hao and Ronghai Liu and Shuting Wan},
  title = {Research on Path Planning of Substation X-Robot},
  journal = {American Journal of Electrical Power and Energy Systems},
  volume = {8},
  number = {1},
  pages = {23-32},
  doi = {10.11648/j.epes.20190801.13},
  url = {https://doi.org/10.11648/j.epes.20190801.13},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.epes.20190801.13},
  abstract = {In this paper, according to the environment of the robot in the substation, firstly, the D-H mathematical modeling of the UR10 manipulator is built and the forward and inverse kinematics of the UR10 manipulator are solved by studying the basic knowledge of the manipulator. Secondly, aiming at the problems existing in the traditional artificial potential field method, the improved artificial potential field method is studied and the principle that the link of the manipulator can not collide with obstacles is studied. The collision detection algorithm is added and the collision detection of cylindrical bounding box is designed. Then according to the starting position of the end of the manipulator and the position of the obstacle, the moving path of the end of the manipulator is determined. Finally, the improved artificial potential field method is used in MATLAB to simulate the moving path of the UR10 manipulator, and field tests are carried out to verify the effectiveness of the improved artificial potential field method and collision detection of cylindrical bounding box in the path planning. These methods can make the robot reach the designated detection position perfectly in the process of walking in the substation and also avoid the collision between the manipulator and the obstacle (substation electrical equipment and building, etc.). The application of X-ray detection equipment in substation becomes more intelligent.},
 year = {2019}
}

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TY  - JOUR
T1  - Research on Path Planning of Substation X-Robot
AU  - Guangchao Hao
AU  - Ronghai Liu
AU  - Shuting Wan
Y1  - 2019/03/12
PY  - 2019
N1  - https://doi.org/10.11648/j.epes.20190801.13
DO  - 10.11648/j.epes.20190801.13
T2  - American Journal of Electrical Power and Energy Systems
JF  - American Journal of Electrical Power and Energy Systems
JO  - American Journal of Electrical Power and Energy Systems
SP  - 23
EP  - 32
PB  - Science Publishing Group
SN  - 2326-9200
UR  - https://doi.org/10.11648/j.epes.20190801.13
AB  - In this paper, according to the environment of the robot in the substation, firstly, the D-H mathematical modeling of the UR10 manipulator is built and the forward and inverse kinematics of the UR10 manipulator are solved by studying the basic knowledge of the manipulator. Secondly, aiming at the problems existing in the traditional artificial potential field method, the improved artificial potential field method is studied and the principle that the link of the manipulator can not collide with obstacles is studied. The collision detection algorithm is added and the collision detection of cylindrical bounding box is designed. Then according to the starting position of the end of the manipulator and the position of the obstacle, the moving path of the end of the manipulator is determined. Finally, the improved artificial potential field method is used in MATLAB to simulate the moving path of the UR10 manipulator, and field tests are carried out to verify the effectiveness of the improved artificial potential field method and collision detection of cylindrical bounding box in the path planning. These methods can make the robot reach the designated detection position perfectly in the process of walking in the substation and also avoid the collision between the manipulator and the obstacle (substation electrical equipment and building, etc.). The application of X-ray detection equipment in substation becomes more intelligent.
VL  - 8
IS  - 1
ER  -

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Author Information

Guangchao Hao

School of Energy, Power and Mechanical Engineering, North China Electric Power University, Baoding, China
Ronghai Liu

Yunnan Electric Power Research Institute, Kunming, China
Shuting Wan

School of Energy, Power and Mechanical Engineering, North China Electric Power University, Baoding, China

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Plain Text BibTeX RIS

APA Style

Guangchao Hao, Ronghai Liu, Shuting Wan. (2019). Research on Path Planning of Substation X-Robot. American Journal of Electrical Power and Energy Systems, 8(1), 23-32. https://doi.org/10.11648/j.epes.20190801.13

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ACS Style

Guangchao Hao; Ronghai Liu; Shuting Wan. Research on Path Planning of Substation X-Robot. Am. J. Electr. Power Energy Syst. 2019, 8(1), 23-32. doi: 10.11648/j.epes.20190801.13

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AMA Style

Guangchao Hao, Ronghai Liu, Shuting Wan. Research on Path Planning of Substation X-Robot. Am J Electr Power Energy Syst. 2019;8(1):23-32. doi: 10.11648/j.epes.20190801.13

Copy | Download

@article{10.11648/j.epes.20190801.13,
  author = {Guangchao Hao and Ronghai Liu and Shuting Wan},
  title = {Research on Path Planning of Substation X-Robot},
  journal = {American Journal of Electrical Power and Energy Systems},
  volume = {8},
  number = {1},
  pages = {23-32},
  doi = {10.11648/j.epes.20190801.13},
  url = {https://doi.org/10.11648/j.epes.20190801.13},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.epes.20190801.13},
  abstract = {In this paper, according to the environment of the robot in the substation, firstly, the D-H mathematical modeling of the UR10 manipulator is built and the forward and inverse kinematics of the UR10 manipulator are solved by studying the basic knowledge of the manipulator. Secondly, aiming at the problems existing in the traditional artificial potential field method, the improved artificial potential field method is studied and the principle that the link of the manipulator can not collide with obstacles is studied. The collision detection algorithm is added and the collision detection of cylindrical bounding box is designed. Then according to the starting position of the end of the manipulator and the position of the obstacle, the moving path of the end of the manipulator is determined. Finally, the improved artificial potential field method is used in MATLAB to simulate the moving path of the UR10 manipulator, and field tests are carried out to verify the effectiveness of the improved artificial potential field method and collision detection of cylindrical bounding box in the path planning. These methods can make the robot reach the designated detection position perfectly in the process of walking in the substation and also avoid the collision between the manipulator and the obstacle (substation electrical equipment and building, etc.). The application of X-ray detection equipment in substation becomes more intelligent.},
 year = {2019}
}

Copy | Download

TY  - JOUR
T1  - Research on Path Planning of Substation X-Robot
AU  - Guangchao Hao
AU  - Ronghai Liu
AU  - Shuting Wan
Y1  - 2019/03/12
PY  - 2019
N1  - https://doi.org/10.11648/j.epes.20190801.13
DO  - 10.11648/j.epes.20190801.13
T2  - American Journal of Electrical Power and Energy Systems
JF  - American Journal of Electrical Power and Energy Systems
JO  - American Journal of Electrical Power and Energy Systems
SP  - 23
EP  - 32
PB  - Science Publishing Group
SN  - 2326-9200
UR  - https://doi.org/10.11648/j.epes.20190801.13
AB  - In this paper, according to the environment of the robot in the substation, firstly, the D-H mathematical modeling of the UR10 manipulator is built and the forward and inverse kinematics of the UR10 manipulator are solved by studying the basic knowledge of the manipulator. Secondly, aiming at the problems existing in the traditional artificial potential field method, the improved artificial potential field method is studied and the principle that the link of the manipulator can not collide with obstacles is studied. The collision detection algorithm is added and the collision detection of cylindrical bounding box is designed. Then according to the starting position of the end of the manipulator and the position of the obstacle, the moving path of the end of the manipulator is determined. Finally, the improved artificial potential field method is used in MATLAB to simulate the moving path of the UR10 manipulator, and field tests are carried out to verify the effectiveness of the improved artificial potential field method and collision detection of cylindrical bounding box in the path planning. These methods can make the robot reach the designated detection position perfectly in the process of walking in the substation and also avoid the collision between the manipulator and the obstacle (substation electrical equipment and building, etc.). The application of X-ray detection equipment in substation becomes more intelligent.
VL  - 8
IS  - 1
ER  -

Copy | Download