Research on Path Planning of Manipulator for Terahertz Time-domain Imaging System of Power Insulators

Abstract

To ensure detection accuracy, the focus of the terahertz lens is required to be located on the surface of the workpiece in the process of terahertz imaging detection, and the outgoing optical axis of the lens is also required to be perpendicular to the surface of the workpiece. Therefore, when imaging curved samples, a 6-degree freedom manipulator is generally used to drive the terahertz lens, and the lens realizes non-destructive testing along the workpiece surface. The mechanical arm is required to drive the terahertz lens to move along the rotation curve in a two-dimensional plane when the mechanical arm is used to detect the power insulator of the rotating structure. This paper focuses on the path planning of the manipulator, that is, the curve is divided into several connected straight lines and arcs, and the manipulator moves continuously in each characteristic line segment. The D-H dynamic model of the manipulator was established to analyze the joint velocity and acceleration to ensure the stability of the moving process.