A 10 kV live working robot for distribution network is developed to replace manual work in uninterruptible operation.According to the D-H method,the manipulator is modeled and kinematics are analyzed,and the correctness of the model is verified by Matlab.The joint space control method is applied to reduce the complexity of the control system and solve the delay problem of the master-slave control.The master-slave control system of the distribution robot passes the electromagnetic compatibility test without jamming,which meets the national test standard.The test of the upper rod disconnecting the drainage line verifies the effectiveness and practicability of the key technology of the electrified robot in distribution network.
关键词
配网带电作业机器人/主从操作手/D-H法/运动学仿真/不停电作业
Key words
live working robot for distribution network/master-slave operator/D-H method/kinematics simulation/uninterrupted operation
维普
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