Force feedback master-slave control-based electrified operation robot tension insulator replacement method

Abstract

The invention provides a force feedback master-slave control-based electrified operation robot tension insulator replacement method. A mechanical arm, a main manipulator and an industrial personal computer form a force feedback master-slave control system; the industrial personal computer works out torque data of each joint of the main manipulator according to stressed data of the tail end of themechanical arm; through a control interface of the main manipulator, the output torque of each joint of the main manipulator is controlled, so that the main manipulator feeds back the stressed force,and an operator determines the force of the mechanical arm according to the feedback stressed force of the main manipulator; the operator changes the tail end posture of the main manipulator, and theindustrial personal computer works out the expected value of the speed vector at the tail end of the mechanical arm according to angle data of each rotary joint of the main manipulator; and through the control interface of the mechanical arm, the mechanical arm movement can be controlled according to the expected value so as to change the force of the mechanical arm. By virtue of the method, operational sense of immediacy is improved, and whether each operation is in place accurately or not can be judged more accurately.

Description

technical field [0001] The invention belongs to the technical field of electric power, and in particular relates to a method for replacing tension insulators of live working robots based on force feedback master-slave control. Background technique [0002] Tensile insulators are the most common and indispensable devices in the transmission and distribution lines of power systems today. They are devices used to increase the creepage distance between conductors at different potentials or between conductors and ground potential components. [0003] With the development of the distribution network, a large number of tension insulators need to be replaced every year. The usual method is to replace them in a power outage. If the power outage area is large, it will cause incalculable losses and seriously affect the economic and social benefits of power supply enterprises. Now the majority of researchers are also actively studying the method of replacing tension insulators in live w...

AI Technical Summary

Problems solved by technology

However, when using the aforementioned live-working robot to carry out precise positioning live operations, such as disconnecting and disconnecting the isolation switch, drop-out fuse and wires at both ends of the arrester, etc., it is mainly through observing the working environment images (including real-time images and 3D modeling images) To judge whether the operation of the robot arm is in place, there is no perception of the contact force between the robot arm and the operating object and between the robot arm and the robot arm, and it is difficult to judge whether the operation accuracy meets the operation requirements

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