Development of Live Working Robot in Distribution Network Based on Master-slave Control Technology
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.
live working robot for distribution networkmaster-slave operatorD-H methodkinematics simulationuninterrupted operation
万方数据
维普
