Workspace boundary extraction of de-icing robot based on Monte Carlo method
基于蒙特卡罗方法的除冰机器人作业空间边界提取

A mechanical configuration is designed for the de-icing robot of high voltage power transmission lines; the workspace of the manipulator is analyzed and generated by using the Monte Carlo method. Since the method involves no inverse calculation of manipulator kinematics, it greatly simplifies the calculation and improves the calculation efficiency. The analysis shows that traditional methods of extracting workspace boundary are inaccurate and with theoretical defects. We advance a new method based on the local point quadrant pattern. The results show that this method is accurate enough for extracting the workspace boundary of the robot.