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Line-grasping control for a power transmission line inspection robot

By 李贞辉, 王洪光, 王越超, 姜勇 and 岳湘

Abstract

针对一种双臂巡检机器人越障过程中脱线手臂的自主抓线问题,提出了一种自主抓线控制方法。首先,基于输电导线纹理特征和积分投影方法估计导线的位姿(偏距、偏角)。然后,基于输电导线的位姿偏差设计自主抓线的仿人智能控制器,利用偏角、偏距和线宽的估计值并结合机器人的倾角信息对机器人进行自主抓线控制。实验表明,该方法能在不同光照和背景下有效估计输电导线的位姿,可靠控制脱线手臂自动落线

Topics: 自动控制技术, 自主抓线, 巡检机器人, 直线检测, 输电线位姿估计
Year: 2015
OAI identifier: oai:ir.sia.cn/:173321/17118
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