Application of Improved S-Curve Flexible Acceleration and Deceleration Algorithm in Smart Live Working Robot

摘要

Abstract Smart live working robot incorporates the merits of security and reliability, which can greatly improve automation rate of living working, suitable for power distribution network live working applications. Due to flexible strike and shake in automatic stripping wire module of smart live working robot start and end period, an improved S-curve flexible acceleration and deceleration control method is proposed. Based on analyzing disadvantage of conventional linear and exponential acceleration and deceleration algorithm, formula math model of improved cubic polynomial S-curve acceleration and deceleration algorithm is derived. Five-paragraph format motion planning is adopted the proposed S-curve control method, which can realize appointed acceleration and deceleration time moving. Meanwhile, the acceleration is continuous during moving period, and according to different working condition, different Scurve type can be chose. The simulation and practical operating results showed that proposed control strategy can effectively reduce flexible strike, thus improving stationarity and accuracy of the control system.