Study on Control of Two Axis Linkage of Live-working Robot for Power Transmission Lines
[摘要] A two axis linkage dynamic control method for joint space of a live-working robot for power transmission lines is presented in order to solve the problem of that the working efficiency of the live-working robot is low in single joint serial connection working. This paper established a global dynamical equation during obstacle-crossing through the Newton-Euler approach, providing the basis for establishing any two-axis linkage dynamic equation; analyzed and determined joints of the robot capable of two axis linkage, presenting a group of common dynamical equations for two axis linkage joints; and designed a PD control method with a gravity model. Simulation and experimental results show that the two axis linkage method is feasible and capable of increasing working efficiency of the robot.
[发布日期] [发布机构] State Grid Hunan Electric Power Company Live Working Center, Changsha; 410100, China^1;Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment (Robot), Changsha; 410100, China^2
[效力级别] 无线电电子学 [学科分类]
[关键词] Dynamic control methods;Dynamic equations;Dynamical equation;Gravity model;Newton-Euler approach;Obstacle crossings;Serial connection;Working efficiency [时效性]
