Abstract
This paper focuses on the application scenarios of electric power live line working robots, addressing tasks such as live wire stripping and live wire connection/disconnection. It utilizes Mixed Reality (MR) technology for rapid environment modeling and visual signal acquisition. Through the research on robot contact force sensing, real-time force feedback, and obstacle avoidance through the fusion of robot motion paths and environmental data, it establishes a novel electric power live line working robot system centered around dexterous dual arms at the operation end, force feedback teleoperation controllers, multi-sensor fusion acquisition systems, and robot motion planning and control technology. Through prototyping, a demonstration application is realized, showcasing a semi-autonomous electric power live line working robot system that employs remote operation combined with sensor-based MR for task execution. This teleoperation and Mixed Reality-based semi-autonomous electrified operation approach is poised to play a significant role in advancing and demonstrating the use of robots in the field of electrical grid operations.
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