4th International Conference on Mechanics and Mechatronics Research | |
Study on Control of Two Axis Linkage of Live-working Robot for Power Transmission Lines | |
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.
【 预 览 】
Files | Size | Format | View |
---|---|---|---|
Study on Control of Two Axis Linkage of Live-working Robot for Power Transmission Lines | 1400KB | download |