This invention discloses a dual-arm
robot and its control method for repairing broken strands in high-altitude cables, belonging to the field of power
system operation and maintenance technology. The method includes: acquiring multi-source initial
perception information of the cable to be repaired and generating a global environment model; driving the
robot to move to the broken strand area based on this model, collecting detailed
perception information to construct a dynamic three-dimensional
operation model; performing semantic understanding and task
decomposition on the repair task instructions to generate a logical sub-task sequence and action prototype information; generating low-level control instructions based on the action prototypes and executing the repair actions, integrating end-
effector visual feedback and force feedback in real time during the process, and dynamically adjusting the control instructions; after the repair is completed, collecting scanned reconstruction information, comparing it with preset process standards, and autonomously deciding whether to perform supplementary repair or re-repair until it meets the standards; finally, withdrawing to a safe location. This method achieves fully autonomous
perception, planning, execution, and quality
verification for broken strand repair, significantly improving the safety, efficiency, and reliability of high-altitude operations.