Abstract
This paper presents a mobile 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 kinematics of the inspection robot and the process of obstacle-navigation are analyzed in details. In order to achieve autonomously control the task-oriented integrated control architecture is adopted, and the architecture is a multi-agent system coordinate and organized by distribute blackboard. To achieve auto obstacle-navigation control, camera-in-hand system is adopted to realize power transmission line pose locating. With the power line locating algorithm, a dynamic position based look-and-move control structure is implemented to achieve line-grasping control. Experiments result shows that the robot can realize auto obstacle-navigation control and proves the valid of the control method
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
