Study On Dual-arm Coordinated Control Issues Of Hot-Line Robot

The research of hot line robot in recent years shows a very strong security features and higher working efficiency. Compared to traditional manual live working methods, hot line robot is more in line with contemporary requirements of the electricity industry. With the development of social economy and the improvement of science and technology, using a robot rather than artificially becomes an inevitable trend for high voltage working.High voltage hot line robot commonly uses double-arm structure. The work environment is generally high voltage transmission line or in substations. They can strip high voltage cable and change the drop switches. In order to complete these jobs, we have to carry out a study about the coordinated control of two manipulators. As the live working environment is complicated, it is easy to touch insulators or other electric devices by mistake, causing damage to the circuit or power failure. Therefore, the path planning and collision avoidance for the manipulators must be designed, which also involved in the coordination of manipulators control problem. In summary, the research on the coordination control of two manipulators is necessary. And it has become an important research topic among the research about the hot line robot.This paper made a series study on coordinated control technology of present live and robot arm conducted, which analyses and in-depth study. Major work in the following areas:First, made some researches on China’s demand of live working, details the technical features of hot line robot and the development at domestic and abroad.Second, introduction about the hot line robot systems, including the hand of master-slave manipulator for live working, robot control systems, special tools for live working, and insulation protective measures. It focuses on hot line robot control systems.Third, kinematically modeling the hot line robot. Building the space coordinate systems and then get the D-H coordinate system through the transformations of coordinate system. Solving at the constraint condition to complete the positive and inverse operations for robotic arms.Four, design the path planning methods of hot line robot. In C space, by dividing the whole working space into network lattice, it describes the free space and the obstacle space, and makes index corresponds to each network lattice. Then it searches the path in the network lattice by using A*algorithm, getting the optimal path. Calibration job arms to arm A and arm B by the movement priority level. Firstly, planning the trajectories of arm A, then established the C space of arm B, map the path of arm A as obstructions space to arm B, after passing through the grid division, uses A*algorithm to search an optimal path algorithm. Write the corresponding program to achieve the path planning method, and finally using MATLAB simulation to verify.Five, design the coordinated control system of hot line robot’s arms. Modeling and analysis of operation process according to the above-mentioned method of kinematic analysis and the study of path planning, realizing the design of coordinated control system for hot line robot’s arms.Six, analyze and design the control scheme in coordinating the work flow about changing drop switch for hot line robot’s arms. It lays stress on the procedures about resetting, security, master-slave control, autonomous control. It also introduced the progress about the entire coordinate and control system of the arms, fully elaborated the coordinate and control strategy of the hot line robot’s arms.