This invention provides a
robotic arm control method for live-line work in power
distribution networks, belonging to the field of
robotic arm control technology for power distribution network operations. To address the technical problem that existing robots struggle to balance compliance, reliability, and efficiency in power distribution network operations, failing to meet on-site
operational requirements, this invention installs a three-dimensional line
laser contour sensor at the end of the first
robotic arm of a dual-robotic arm
system, and a six-dimensional force /
torque sensor and a working tool at the end of the second robotic arm. The sensors construct an operational coordinate
system and generate a pre-operation guidance trajectory. During operation, the
system scans the conductor in real time to obtain the dynamic center point coordinates and offset, and outputs composite commands through a
hybrid control model to achieve macroscopic
position tracking and high-frequency micro-motion compensation. After contact, the system switches to
impedance control, using force feedback to ensure the tool maintains
constant force against the conductor. This invention achieves high-precision dynamic tracking, compliant contact, and human-
robot collaborative operation, significantly improving the reliability, safety, and efficiency of live-line work.