Wire repairing method for live working robot based on force feedback master-slave control

Abstract

The invention provides a wire repairing method for a live working robot based on force feedback master-slave control. A force feedback master-slave control system is formed by a mechanical arm, a mainoperating hand and an industrial control computer. The industrial control computer calculates the torque data of each joint of the main operating hand according to force data of an end of the mechanical arm, controls each joint of the main operating hand to output torque through a control interface of the main operating hand, thus the main operating hand feeds force back, and an operator confirmsthe length of the mechanical arm according to the feedback force of the main operating hand. The operator changes the pose of a main operation end, the industrial control computer calculates an expected value of the speed vector of the end of the mechanical arm according to the angle data of each rotation joint of the main operating hand and controls the movement of the mechanical arm according to the expected value through a control interface of the mechanical arm to change the strength of the mechanical arm. According to the method, the telepresence of operation is improved, and whether each operation is accurate and in place can be more accurately judged.

Description

technical field [0001] The invention belongs to the field of electric power technology, and in particular relates to a wire repair method for a live working robot based on force feedback master-slave control. Background technique [0002] Due to external force damage and hardware wear and other reasons, the transmission overhead line may be damaged. When the damage of the wire is small, the wire can be repaired by winding method. The usual method is to repair the power outage. If the power outage area is large, it will cause incalculable losses and seriously affect the economic and social benefits of the power supply company. Numerous researchers are also actively studying the method of live work repairing wire now. However, artificial live maintenance of overhead lines requires operators to work near high-voltage live lines, which poses certain safety hazards. [0003] Insulated gloves are mainly used for live work in distribution lines. When the wires on the overhead lin...

AI Technical Summary

Problems solved by technology

However, when using the aforementioned live-working robot to carry out precise positioning live operations, such as disconnecting and disconnecting the isolation switch, drop-out fuse and wires at both ends of the arrester, etc., it is mainly through observing the working environment images (including real-time images and 3D modeling images) To judge whether the operation of the robot arm is in place, there is no perception of the contact force between the robot arm and the operating object and between the robot arm and the robot arm, and it is difficult to judge whether the operation accuracy meets the operation requirements

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