Master-Slave Control Research Of Live Working Robot

In recent years, in order to satisfy strong demand for uninterrupted power, outage-free maintenance techniques for transformer substation and overhead distribution power lines have been developed.In the conventional maintenance techniques, workers have to face a hazardous environment such as electrical shock and falling from a high place and high magnetic radiation and so on. Tele-operated systems have been developed and employed in order to eliminate the limitations of artificial live working and improve the automation of live working. Due to the environment is very complex and variable and there is no standard set of equipment to work on, therefore the use of an autonomous robotic device is not advisable, so at prevent we use master-slaver system in the live working robot.The master-slave control means, at the human-computer interaction system the operator in a safe place control slaver manipulator into the danger zone by operating master manipulator, slaver manipulator follows the master manipulator to move and at the same time feedback to the operator the force working with environment. The panoramic camera and power camera which are located on the platform provide pictorial information to the operator. Three-dimensional coordinates of the target point and angular displacement of slaver can also be provided to the operator. Only provide the perfect human-computer interaction control system to the operator, can he complete the complicated tasks.In this paper the author’s research contents are as follows.Firstly, against the problem of high quality of master-slave control, the master manipulator system was set up included compact structure design, high precision A/D conversion, smoothing and the generation of force feedback signal. Taking use of high efficiency of the processor to deal location information and torque information faster and more accurate.Secondly, against the shortage of the master-slave control algorithm and the difference size between master manipulator and slave manipulator, introduced the scaling effect, the master-slave control strategy that fit the live working robot system was proposed. The strategy could eliminate the influence of the operator and the external environment. By compared with force reflection servo control strategy through experiment, the strategy was verified to be superior.Thirdly, against the problem that the limitations of the master-slave control,local autonomous manner was proposed to perfect the human-computer interaction control system.As to the inverse kinematic problems, a simple and effective algorithm was proposed and verified through the simulation softwares ADAMS and MATLAB.Lastly, against the question which the live working robot software design was realized. This paper expounds the principle structure of the master-slave motion control subsystem and the autonomous motion control subsystem based on visual servo. In order to protect the system to normal operation, this paper designs the main program, the master-slave motion control subroutine and autonomous motion control subsystem of the live working robot.