Obstacle-navigation control of power transmission lines inspection robot

This paper presents an inspection robot suspended on power transmission lines based on a novel movement mechanism with two manipulators and a body. After the inspection robot configuration is described, the process of obstacle-navigation are analyzed in details. During the process of auto obstacle-navigation, power line grasping control should be realized exactly with the arm of inspection robot. According to the transmission line geometry characteristic and the theory of perspective projection, a single camera stereovision method has been set up to detect the orientation and position vector of the power transition line. Based on that arithmetic and theory of visual servoing, line grasping servoing model is built up to achieve line-grasping control. Experimental results show that the robot can realize auto obstacle-navigation control and proves the valid of the control method