Force and position hybrid control method for mechanical arm of overhead line maintenance robot
An overhead line and hybrid control technology, which is applied to overhead line/cable equipment, manipulators, and comprehensive factory control, etc., can solve the problems that affect the successful completion of the overhead line maintenance robot manipulator and the controllability of the overhead line maintenance robot manipulator.
Active Publication Date: 2020-09-01
YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
View PDF8 Cites 3 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0005] This application provides a force-position hybrid control method for the robotic arm of an overhead line maintenance robot to solve the problem that the existing force-position hybrid control method relies on complete or partial system dynamics knowledge, which leads to the control of the system's overhead line maintenance robot arm performance decline, which in turn affects the successful completion of the inspection task of the overhead line maintenance robot manipulator on the overhead transmission line
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0074] The present application provides a force-position hybrid control method for the mechanical arm of an overhead line maintenance robot, and simultaneously adjusts the contact force of the end effector of the mechanical arm to the operating object and the position of the end effector.
[0075] figure 1 The flow chart of the force-position mixing control method for the robot arm of the overhead line maintenance robot for this application, such as figure 1 As shown, the force-position hybrid control method of the overhead line maintenance robot arm includes:
[0076] Step S100, establishing a dynamic model of the manipulator, and performing dynamic decomposition to obtain a decomposed dynamic equation of the movement of the manipulator.
[0077] In this application, the dynamic model of the mechanical arm is established, and the dynamic decomposition is performed to obtain the decomposition dynamic equation of the mechanical arm motion, including,
[0078] Establish the dy...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a force and position hybrid control method for a mechanical arm of an overhead line maintenance robot. The control method is completely independent of a dynamics modeling of asystem, and can determine the boundary of uncertainty a priori. In actual use, a sliding mode controller decomposes a kinetic model of the mechanical arm executing operation on the curved surface intoforce, position and redundant joint subspaces; in the design of the sliding mode controller, a TSK fuzzy system and a self-adaptive PI controller are used for approaching an ideal part and a robust part of a sliding mode control method respectively; parameters of the controller are adjusted online according to an adaptive rule in the Lyapunov second stability theorem. Compared with a traditionalforce and position hybrid control method, the force and position hybrid control method does not depend on a robot model, and only a small amount of mechanical and geometric characteristic informationabout the robot and the environment is needed.
Description
technical field [0001] The present application relates to the technical field of electrical equipment, in particular to a force-position mixing control method for a robotic arm of an overhead line maintenance robot. Background technique [0002] The operation status of high-voltage overhead transmission lines directly affects the distribution status of the power system, and plays a key role in the safe and stable operation of the power system. Therefore, regular inspections of the operation of high-voltage overhead transmission lines are required. At present, the inspection method of high-voltage overhead transmission lines has been transformed from manual inspection to special robot inspection. Overhead line maintenance robots are used to inspect high-voltage transmission lines to improve the safety of transmission line operation. [0003] When the overhead line maintenance robot performs tasks, it needs to adjust the contact force of the end effector of the manipulator to ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16H02G1/02
CPCB25J9/1605B25J9/1633B25J9/163H02G1/02Y02P90/02
Inventor 刘荣海郑欣郭新良蔡晓斌沈锋杨迎春焦宗寒许宏伟周静波虞鸿江陈国坤代克顺何运华孔旭晖
Owner YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST