Inverse Kinematics Solution Algorithm of Electric Climbing Robot Based on Improved Beetle Antennae Search Algorithm

摘要

In order to further improve the safety and efficiency of power tower maintenance operations, reduce the labour intensity of power workers in overhauling high-voltage transmission systems, and ensure the safety of workers at height, a six-degree-of-freedom articulated power tower climbing robot is proposed, and the kinematic analysis and solution are carried out for this configuration. In order to solve the problems of the traditional analytical method for the inverse kinematics of the robot arm, a kinematic inverse solution algorithm is proposed to improve the Tennessee whisker algorithm. In the first step, the electric climbing robot is modelled by DH to obtain the positive kinematics equations; then, the positive kinematics equations and the target position are used to establish the cost function, and the cost function is optimized by the improved Tennessee whisker algorithm; finally, the algorithm is implemented in Matlab for the simulation verification. The experimental results show that the proposed algorithm has better convergence and higher solution accuracy than the traditional tenno whisker algorithm, the improved genetic algorithm and the improved particle swarm algorithm.