The Research And Design Of The De-icing Robot Of Transmission Line's Ice Crossing The Barrier Methods

This paper mainly operates the problems that the de-icing robot crosses the all kinds of barriers, by analyzing the positive robot kinematics and inverse problems, studies the robot body of crossing the all kinds of barriers and establishes a dynamic model of the robot.Papers using fuzzy neural network control technology and the operation of the object before the information to solve the robot repeat the operation more impaired in nature, the realization of the robot in the limited time the full range of tasks to track. Through an adaptive fuzzy neural network controller simulate the control system of crossing the barrier control system. The system uses a Kalman filter learning algorithm to solve the traditional BP algorithm and the poor real-time neural network controller takes a longer time can be applied to study the issue. Finally, the theory applies to discrete-event monitoring of the more-impaired arm robot coordination control layer, the solution to a more impaired in the process of coordination and control issues, and through simulation results show that this method is effective.This paper also discusses the EHV transmission line de-icing the more impaired the robot control system design, the design of the stepper motor and drive motor wiring diagram to discuss the autonomy of the robots across a variety of obstacles and the robot de-icing in the strong electromagnetic anti-environment measures.