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Self-positioning control method used for power cable operation robot mechanical arm

A technology for operating robots and power cables, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficulty in adapting to the working environment of high-voltage transmission lines, and achieve the effects of saving hardware consumption, reducing costs, and high positioning accuracy

Inactive Publication Date: 2018-08-31
WUHAN TEXTILE UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, most of the research on manipulator positioning control is based on the semi-autonomous positioning method of multi-sensor information fusion and visual servoing, and it is difficult to adapt to the specific operating environment of high-voltage transmission lines.

Method used

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  • Self-positioning control method used for power cable operation robot mechanical arm
  • Self-positioning control method used for power cable operation robot mechanical arm
  • Self-positioning control method used for power cable operation robot mechanical arm

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Embodiment Construction

[0020] The autonomous positioning control structure of the robot manipulator is as follows: Figure 6 As shown, the entire control system is a double closed-loop control system composed of pose feedback based on kinematics and feature parameter feedback based on visual servoing. One closed loop realizes the rough positioning of the manipulator, and the other close loop realizes the fine positioning of the manipulator. The function of the first closed loop is to control the robot manipulator to continuously approach the ideal pose from the initial pose in the space coordinate system. In the autonomous positioning control system, the BP network control takes the pose error of the manipulator as input, and the output is the control variable u(t ), through the learning dynamic adjustment of BP network to control the rotation, expansion and contraction of the robot arm and the speed of the longitudinal movement motor of the manipulator, and obtain the actual pose of the manipulator ...

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Abstract

The invention relates to a self-positioning control method used for a power cable operation robot mechanical arm, in particular to a high-tension transmission line movement operation robot mechanicalarm and a line bolt self-positioning and butt joint control method. The self-positioning control process is mainly composed of three stages, in the first step, an electromagnetic array sensor is usedfor achieving positioning of a robot operation space, in the second step, dual mechanical arm system kinematics analysis and line structure parameters are used for achieving coarse positioning of themechanical arm and a bolt, and in the third step, visual servo control is used for achieving fine positioning of the bolt and butt joint of the mechanical arm and the bolt. According to the self-positioning control method of the mechanical arm, the robot bolt fastening operation is reasonably divided into three stages, different positioning control methods are adopted in all stages, and the overall operation process is stable and reliable. Through the implementation of the method, the robot operation efficiency, the operation reliability and the robot operation process intelligence are effectively improved.

Description

technical field [0001] The invention relates to an autonomous positioning control method for a manipulator of a power cable operation robot, and belongs to the field of the smart grid industry. Background technique [0002] The live working robot is a special working robot that assists or replaces manual live working and serves in high-voltage transmission lines. It has wide application value in the electric power industry. Drainage plates, anti-vibration hammers, spacers, and various wire clamps are all common fittings on transmission lines. They all need to be connected with the transmission line through bolts to form a whole. The bolt tightening operation of the connecting parts of the line fittings is the key to ensure the safe and reliable operation of the line. Therefore, the bolt tightening operation has a strong representativeness for different live work tasks. Ensuring operation safety, improving operation efficiency and operation reliability has important theoreti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/163
Inventor 江维左干张安陈伟李红军余联庆
Owner WUHAN TEXTILE UNIV