Study on Control of Two Axis Linkage of Live-working Robot for Power Transmission Lines

4th International Conference on Mechanics and Mechatronics Research

机械制造;无线电电子学

Yan, Yu^1,2 ; Zou, Dehua^1,2 ; Liu, Xiaqing^1,2 ; Li, Jinliang^1,2 ; Zhou, Zhanfan^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: Dynamic control methods;    Dynamic equations;    Dynamical equation;    Gravity model;    Newton-Euler approach;    Obstacle crossings;    Serial connection;    Working efficiency;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/224/1/012026/pdf
DOI  :  10.1088/1757-899X/224/1/012026

来源: IOP

【 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.