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

Abstract

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.

A nonlinear optimal control approach for underactuated power-line inspection robots

“…The control problem of these robots remains a challenge because of the nonlinearities that characterize the related dynamic model and because of underactuation [15][16][17][18]. So far, several approaches have been proposed for solving the nonlinear control problem of PLI robots [19][20][21][22][23][24]. Stability proof has become a prerequisite in the development of controllers for such robotic mechanisms [25][26][27][28].…”

A dual-arm manipulation strategy using position/force errors and Kalman filter

“…Once the path of the master robot was assigned, the slave robots regulated their positions by force feedback to manipulate the object stably. Jiang et al (2019) developed a dual-arm coordination controller that could dynamically rearrange close-chained internal force to every joint through mutually compensating position and force errors, so the joint torques of the cable mobile robot could be balanced to ensure safety and reliability in the electricity cable maintenance task.…”

Research on mechanism configuration and coordinated control for power distribution network live working robot

“…The wire repair robot (Wang et al, 2005) developed by the Shenyang Automation Institute of the Chinese Academy Science, the robot gathers broken strands wires using a wire-poking device and presses them using a crimping device, this leads to less wear and tear on the line, so as to obtain a sound crimping effect. In addition, the institute has developed a 500 kV UHV AC transmission line double-tension insulator string detection robot, the Magnetic levitation inspection robot (Xian-jin Xu et al, 2018) for high voltage transmission line developed by Hubei University of Technology, the State Grid Hunan Electric Power Company's live operation center (Jiang et al, 2019a(Jiang et al, , 2019b(Jiang et al, , 2019c has developed a series of live operation robots for transmission lines, which are called the "Dream Series robot," this series robots can implements insulator, damper replacement and drainage plate bolt tightening, the robot locates the manipulator end-sleeve, loosen the nut by rotating the bolt tightening mechanism and clamp the damper or drainage plate by using another manipulator, which is a typical dual-arm robot. The research on this kind of robot has strong reference value for the design of a tension clamp drainage plate dual-arm maintenance robot.…”