Supporting and connecting lead lapping method of live working robot based on force feedback master-slave control

Abstract

The invention provides a supporting and connecting lead lapping method of a live working robot based on force feedback master-slave control. A mechanical arm, a master manipulator and an industrial personnel computer form a force feedback master-slave control system, wherein the industrial personnel computer calculates torque data of joints of the master manipulator according to stress data at thetail end of the mechanical arm to control the joints of the master manipulate to output torque through a control interface of the master manipulator, so that the master manipulator feeds the force back, and an operator confirms the force of the mechanical arm according to the feedback stress of the master manipulator; the operator changes the posture of the tail end of the master manipulator, theindustrial personnel computer calculates a expected number of a velocity vector at the tail end of the mechanical arm according to the angle data of the rotary joints of the master manipulator; through the control interface of the mechanical arm, the mechanical arm is controlled to move according to the expected number to change the force of the mechanical arm. According to the method provided bythe invention, the operating sense of immediacy is improved, and whether operations are in position precisely or not can be precisely judged.

Description

technical field [0001] The invention belongs to the field of electric power technology, and in particular relates to a method for lapping lead wires of live working robots based on force feedback master-slave control. Background technique [0002] With the development of the distribution network, many power engineering maintenance operations need to be carried out live, and it is inevitable to need to overlap the branch leads. Usually, the method of lapping branch lead wires is power outage lapping. 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 and tools of live lap splicing lead wires, but operators may work near high-voltage live lines, which has certain potential safety hazards. [0003] Previously, the operator could remotely control the robot's live working robot through the main operator, which ...

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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