Motion control of autonomous winding mobile robots for bent tubular busbar

ObjectiveTo address the limitations of existing automated winding equipment in adapting to bent tubular busbar configurations, reliance on manual teaching, and low efficiency, an autonomous mobile winding robot system was proposed.MethodsThe system integrated an automated guided vehicle (AGV) mobile platform, a six-axis robotic arm, 2D LiDAR, and an end-effector winding mechanism. By establishing a motion coordinate system and conducting forward/reverse kinematics analysis, LiDAR-based trajectory self-planning methods and collaborative control strategies between robotic arms and AGV were investigated.ResultsPrototype test results demonstrate that the system can perceive the environment and adapt to changes in busbar morphology, breaking through the constraints of traditional fixed workstations; the system achieves a 59.91% reduction in trajectory error, with minimized deviations and significantly improved stability, providing effective reference for collaborative operations between mobile robots and robotic arms.