Optimization of Insulated Bucket Arm Vehicle Bucket Arm Motion Trajectory and Analysis of Collision Detection Algorithms

Insulated bucket arm vehicle operation is currently the primary method for live-line work in the distribution network. Implementing automated path planning for the bucket arm to reach the target node will significantly improve the efficiency and safety of live-line operations. This research focuses on reducing the discretization of arm trajectories through the D-H parameterized modeling of the bucket arm and an enhanced RRT path planning algorithm. The study also involves using cubic and quintic interpolation functions to interpolate the arm’s trajectory and investigating their impact on arm motion speed and acceleration. Additionally, the research explores collision detection methods for the bucket arm, including comparing suitable bounding boxes for various parts of the arm.