Motion and Control Method ofLive-working Robot for Emergency Repair

  • Yi-Fei Hu, Li-Ming Zhang, Zhi-Peng Zhang, Shan-Jun Xu, Jing-JingZhang


To strengthen the daily maintenance of the power grid and ensure the safe and stable operation of the power system, and replace the traditional manual maintenance method to avoid manual live-working accidents, in the study, first, the system architecture of the live-working robot is explored and a three-tier control system is designed to realize the multi-method control of the task and information of the robots. Then, based on the strategy of combining master-slave control and autonomous control, a robot control system for live-working repair is designed. Finally, the work accuracy of the dual mechanical arms is measured. The results show that the root mean square error of the control system of the live-working repair robot is not more than 0.0065, the range of the X-axis and Y-axis directions in the positioning experiment is not more than 2mm, and that in Z-axis direction is not more than 4mm; in the electric field intensity simulation experiment, the maximum electric field strength value with a distance of less than 1200mm meets the requirements of common work. This study provides an empirical basis for the motion and control method analysis of the live-working robot for emergency repair.