Design and simulation of a mobile robot, for the inspection of electrical lines

Eibar, Carlos; Gavilane, Javier; Pérez, Miguel; Aldás, Édisson; Proaño, Paul; Basantes, David

doi:10.18502/keg.v1i2.1491

Cited by 3 publications

(3 citation statements)

References 6 publications

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“…The research and development of mobile robots (e.g. Eibar et al, 2018; Gulzar et al, 2018; Lima et al, 2018; Pouliot, 2012; Pouliot et al, 2012, 2015) and their manipulators with dual arm coordinated operation have important theoretical and practical values for reducing operation risks, ensuring operation safety, improving operation efficiency and operation reliability. Regarding the operations such as bolt tightening, the robot dual arm is required to complete the coordination motion control of the robot arms.…”

Section: Introductionmentioning

confidence: 99%

Research on dual-arm coordination motion control strategy for power cable mobile robot

Jiang

Liu

et al. 2019

Transactions of the Institute of Measurement and Control

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Regarding the typical operation tasks in high-voltage transmission line environment, in order to effectively eliminate or reduce the disadvantageous effects on the robot operation reliability caused by the close chain internal forces. According to the motion status of manipulator operation, the dual-arm coordination control of the mobile operation robot can be divided into three different modes, which are dual-arm independent operation mode, dual-arm fully constrained mode and dual-arm partially constrained mode. The dynamic model between dual-arm and operation objects for the three different models are established, respectively. The manipulator position and force are set as the control targets, a unified dual-arm coordination controller is designed for the three operation modes. Through the mutual compensation of force error and position error, the close chain internal force can be dynamically allocated in each joints, so that the robot joints force can be balanced during the operation, and the internal force in the close chain can be minimized during the operation process so as to ensure the operation reliability and safety. Finally, the validity and engineering practicability is verified by MATLAB simulation experiment and 220 kV living damper replacement and drainage plate bolt tightening operation experiment, respectively.

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Section: Introductionmentioning

confidence: 99%

Research on dual-arm coordination motion control strategy for power cable mobile robot

Jiang

Liu

et al. 2019

Transactions of the Institute of Measurement and Control

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“…Hotline-live operation (Richard et al , 2014; Eibar et al , 2018; Lima et al , 2018) is a kind of maintenance and test method on high-voltage electrical equipment without involving of manual labor and power cutoff. It is not only of great significance to the stable operation of the power grid but also can ensure the stability of the power supply.…”

Section: Introductionmentioning

confidence: 99%

Manipulator visual localization motion control for power cable mobile robot in dynamic-unstructured environment

Jiang¹,

Zhang

et al. 2019

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Purpose To improve the operational efficiency and intelligence of live operation robots in dynamic-unstructured operation environments, this paper aims to propose a fuzzy logic-based method for the autonomous search and visual localization control of a manipulator end effector applied to a drainage plate bolt on a high-voltage transmission line. The proposed approach is based on a four-way video image information output from a dual-operation manipulator. Design/methodology/approach First, based on the structural characteristics of the drainage line, an autonomous search method for the drainage plate bolt and a mapping relationship between the autonomous search control parameters and the relative posture of the operation manipulator-drainage line are proposed. The posture control parameters of the dual manipulators can then be obtained, and a two-dimensional fuzzy controller is designed with the posture offset distance and the posture offset angle as its input signals. This enables the localization control of the bolt and nut alignment to be realized through a visual process. Findings The proposed fuzzy control algorithm is used for bolt location control, and its performance is compared with that of the conventional approach. The simulation results indicate that the fuzzy control algorithm greatly improves the localization accuracy and operational efficiency of live operation robots. Originality/value Field operation experiments on actual transmission lines verify that the fuzzy control-based visual localization control of the robot manipulator has great engineering practicality. Therefore, the proposed method further improves operational intelligence compared with conventional algorithms.

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“…Live maintenance robots (Pouliot et al , 2015; Ramirez et al , 2014; Gulzar et al , 2018; Eibar et al , 2018; Lima et al , 2018) are electrically powered robots that walk along high-voltage transmission lines to carry out or assist in maintenance tasks. They play an important role in the power industry and have a wide range of prospective applications.…”

Section: Introductionmentioning

confidence: 99%

Robust trajectory tracking control for parameter perturbation power cable mobile operation robot system

Jiang

Liu

et al. 2018

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Purpose In the high-altitude, high-voltage electromagnetic interference operation environment, due to the parameters perturbation for robot control model caused by uncertainties and disturbances, and with the poor effective of the conventional proportional–integral–derivative (PID) control to parameters perturbation system, the mathematical model of power cable live operation robot joint PID closed-loop control system is established. Design/methodology/approach The corresponding joint motion robust PID control method is also proposed based on Kharitonov theory, the system robust stability conditions including the sufficient and necessary conditions are deduced and obtained and the solving process of robust PID control parameters stability region is provided. Findings Finally, the simulation research on robot joint motion PID control system is also launched in MATLAB environment based on Kharitonov theory. The results show that the conventional PID control obtains better control effect only to nominal model but is ineffective to parameter perturbation system, while robust PID obtains sound control effect to parameter perturbation system. Compared with H8 robust PID, the Kharitonov robust PID has better control effect which meet the system design requirements of joint motor quickly response, high tracking accuracy and sound stability. Finally, the validity and engineering practicability are verified by 220-kV living replacing damper operation experiment. Originality/value This paper has described the development of a damper replacement power cable live maintenance robot experimental prototype, which greatly improves operation efficiency and deals with the safety problem of operation in a high-voltage environment. A general manipulator motion control model of the power cable robot is established; the Kharitonov theory-based parameter perturbation robust motion control method of damper replacement robot is also obtained. Through the simulation comparison, it is verified that the Kharitonov control has more superiority for dealing with the parameter perturbation systems under the premise of ensuring the stability motion. The field experiment has further confirmed the engineering practicability.

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Design and simulation of a mobile robot, for the inspection of electrical lines

Cited by 3 publications

References 6 publications

Research on dual-arm coordination motion control strategy for power cable mobile robot

Research on dual-arm coordination motion control strategy for power cable mobile robot

Manipulator visual localization motion control for power cable mobile robot in dynamic-unstructured environment

Robust trajectory tracking control for parameter perturbation power cable mobile operation robot system

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