Abstract
When power line inspection robots cross the obstacles, the positions will change. The change of the positions of the inspection robot will lead to the change of the inertia at the load side of the joint servo system. The time-varying characteristics of the inertia affect the speed output of the joint servo system and cause the vibration of the inspection robot. In this paper, fuzzy adaptive control is used to suppress the vibration of the robot. Firstly, the dynamic model of inspection robot and its joints are established, and the transfer function should be obtained. Next, according to the pole placement methods, the PI controller parameters of the inspection robot in different positions are selected. Then the fuzzy adaptive control is applied to adjust controllers' parameters in real-time to offset the speed fluctuation caused by inertia. Finally, the effectiveness of the method proposed in this paper is verified by numerical simulation and control experiments of the inspection robot.
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