INVERSE KINEMATICS ANALYSIS AND TIME OPTIMAL MOTION PLANNING OF PHOTOVOLTAIC ARRAY CLEANING MANIPULATOR BASED ON BP NEURAL NETWORK

Rui Hongbin; Cao Wei; Sun Ningning

doi:10.19912/j.0254-0096.tynxb.2021-0427

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Acta Energiae Solaris Sinica ›› 2022, Vol. 43 ›› Issue (10) : 43-51. DOI: 10.19912/j.0254-0096.tynxb.2021-0427

INVERSE KINEMATICS ANALYSIS AND TIME OPTIMAL MOTION PLANNING OF PHOTOVOLTAIC ARRAY CLEANING MANIPULATOR BASED ON BP NEURAL NETWORK

Rui Hongbin¹, Cao Wei¹, Sun Ningning²

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Abstract

Aiming at the problem of photoelectric conversion efficiency decline caused by the ash deposition effect of photovoltaic panels, a vehicle mounted photovoltaic panel cleaning robot is designed according to the installation terrain characteristics and clean working environment in Northwest China. Inverse kinematics analysis of cleaning manipulator is the difficulty problem of trajectory planning of end cleaner. In view of the complexity of analytical method to solve inverse kinematics and the lack of optimal solution, a method based on BP neural network to solve inverse kinematics of cleaning manipulator is proposed. BP neural network model is established and simulated by MATLAB. In order to improve the cleaning efficiency of photovoltaic panels, the shortest time motion planning is carried out for the point-to-point motion time optimization problem of cleaning manipulator. The quintic polynomial interpolation method is used to fit the path of each joint variable of the manipulator in the joint space coordinate system, and the genetic algorithm is used to optimize the motion time of the cleaning manipulator. Finally, according to the optimization results, the trajectory planning of the manipulator is simulated. The results show that the established kinematics model of the manipulator and the BP neural network used to solve the inverse kinematics method of the cleaning manipulator accord with the time optimal motion planning of the cleaning manipulator, which improves the cleaning efficiency of photovoltaic panels, and provides the time optimal control planning for the cleaning robot arm of photovoltaic panels to a certain extent.

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Rui Hongbin, Cao Wei, Sun Ningning. INVERSE KINEMATICS ANALYSIS AND TIME OPTIMAL MOTION PLANNING OF PHOTOVOLTAIC ARRAY CLEANING MANIPULATOR BASED ON BP NEURAL NETWORK[J]. Acta Energiae Solaris Sinica. 2022, 43(10): 43-51 https://doi.org/10.19912/j.0254-0096.tynxb.2021-0427

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