|
Wang Gang
Li Jingrui
Zhang Hongwei
School of Mechanical Engineering,
Tianjin University,
Tianjin 300072, China
Qi Hui
Intelligent Technology Division,
Shandong Electric Power Institute,
Jinan 250002, China |
|
|
VIBRATION
ANALYSIS AND TRACKING CONTROL FOR HOT LINE ROBOT*
Abstract: The maintenance of high voltage power line is very difficult job and the usage of robot is a good solution. The dynamic character of robot and its supporting mechanism in operation of maintenance of high voltage power line is analyzed. Object tracking scheme based on visual servoing is presented to track the object, which is in relative motion. Trajectory prediction of moving object is formed by differential features of intrinsic geometry. Window technique is used to improve the efficiency of feature searching and processing. Experiments of replacing old insulators on 4 kV voltage power line were conducted and the control methods were verified.
Key words:
Robot Dynamic analysis High
voltage power line Object tracking |