Abstract
The problem of low efficiency and high danger is addressed by mainly relying on the manual tightening of the anti-vibration hammer. A transmission line anti-vibration hammer fastening robot is designed, and its operation control method is focused on the study. Firstly, we use the visual YOLOV-5 algorithm to detect the anti-vibration hammer in real time to achieve rough positioning and then cooperate with the depth camera to obtain the accurate 3D coordinates of the anti-vibration hammer bolts. After obtaining the position of the anti-vibration hammer bolt, a fuzzy PID controller is used to control the robot’s operation motion to ensure the stability and accuracy of the operation. Finally, the tightening experiment of the anti-vibration hammer under the transmission line verifies that the proposed operation control method can meet the requirements of efficiency and reliable tightening of the anti-vibration hammer.
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