{"title":"Trajectory Planning of Transformer Cleaning System Based on IRB4600 Robotic Arm","authors":"Yong-qiang Li, Wei-cai Liu, Zhi-Fei Zhang","doi":"10.12783/dtetr/acaai2020/34181","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":11264,"journal":{"name":"DEStech Transactions on Engineering and Technology Research","volume":"2 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2020-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"DEStech Transactions on Engineering and Technology Research","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.12783/dtetr/acaai2020/34181","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
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.
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