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고전압차단기 인출 작업을 위한 자율 로봇 시뮬레이션 시스템
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- Issue Date
- 2026-06
- Citation
- 대한전자공학회 학술 대회 (하계) 2026, pp.1-5
- Publisher
- 대한전자공학회
- Language
- Korean
- Type
- Conference Paper
- Abstract
- This paper presents an autonomous robot simulation system for medium-voltage vacuum circuit breaker (VCB) racking operations using NVIDIA Isaac Sim. The proposed system integrates a mobile robot platform with a SCARA manipulator and a vision-based recognition module to detect the VCB racking drive shaft and perform withdrawal tasks autonomously. The simulation environment, built on Isaac Sim with ROS 2 Jazzy, provides realistic sensor simulation including dual LiDAR, IMU, and RGB-D camera. The autonomous navigation subsystem employs Pose graph optimization-based mapping, EKF-GICP localization, and Hybrid A* path planning. The manipulation subsystem utilizes an 8-state finite state machine combining YOLO-based object detection with LiDAR-vision sensor fusion for precise 3D target estimation. Simulation results demonstrate the feasibility of the integrated system for automated VCB racking operations in power distribution equipment environments.
- KSP Keywords
- 3D target, Autonomous robot, Circuit Breaker, Drive Shaft, Mobile Robot Platform, Optimization-based, RGB-D cameras, Simulation Environment, Simulation system, State machine, Vision-based