An Impedance-Control Based Teleoperation System for Live-Line Maintenance Robot

Abstract

Robotic operation is an effective way to upgrade the live-line maintenance safety, efficiency, and quality. This paper proposes an impedance control-based teleoperation system to improve the adaptability of live-line maintenance robot in outdoors environment. The key technology of this system is utilizing three virtual spring-damper systems to model the elastic connection between the end-effector of slave manipulator and the environment, between the end-effector of slave manipulator and the counterpart of master haptic device, and between the end-effector of master haptic device and its base, respectively. Experiment results show that, under control of our proposed teleoperation system, the slave manipulator is able to track the motion of master haptic device and the robot is able to complete a set of complex action to peel the coat off the cable.