Optimal crossing and control of mobile dual-arm robot through tension towers by using fuzzy and Newton barrier method

Abstract

The methodology of manual high-voltage transmission-line inspection is a time-consuming process, and also it involves high risk. The safe and efficient methodology of autonomous robotic inspection is needed to avoid these kinds of problems involved in the manual inspection. One of the challenging steps in the development of power transmission-line inspection robot is the design of a mechanism for crossing tension towers through the jumper cables and also avoiding obstacles in the transmission lines with minimum consumption of energy. Positioning of the robot in the transmission line and crossing the jumper cable are also difficult. This paper tries to find a feasible solution for these challenging issues. A novel design of the robot mechanism, positioning of dual arm for intelligent crossing and trajectory planning of arm based on minimum energy are presented. Optimum goal position for holding is determined using fuzzy logic. Ten degrees of freedom dual arm of the inspection robot is used for transferring a gripper hook to the goal position in the jumper cable through an optimum cubic trajectory for transferring whole robot from straight cable to jumper cable. Optimum energy trajectory is determined using primal dual interior-point method. This paper also presents the design of proportional–integral–derivative controller with genetic algorithm tuning for crossing from straight transmission line to jumper cable. Simulation study of robot motion through straight transmission line and jumper cable is also presented using ADAMS.