Walking Posture Control of Transmission Line Single Arm Inspection Robot

4th International Conference on Mechanics and Mechatronics Research

机械制造;无线电电子学

Yan, Yu^1,2 ; Liu, Xiaqing^1,2 ; Li, Jinliang^1,2 ; Ou, Yuexiong^1,2

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

关键词: Circuit structures;    Control methods;    Inspection robots;    Normal walking;    PD control;    State variable feedback;    Two-state;    Walking postures;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/224/1/012019/pdf
DOI  :  10.1088/1757-899X/224/1/012019

来源: IOP

【 摘 要 】

To control the walking posture according to transmission line single arm inspection robot, the robot is divided into normal walking and climbing walking two state, and gives the definition, then based on the state space method of state variable feedback and PD control method is used to control the two states, two kinds of control method of simulation by using Matlab, in the end, the two control methods proposed is validated in the actual circuit structures. The results show that, the proposed control method is rapid and effective, and can meet the needs of practical application.