Walking Posture Control of Transmission Line Single Arm Inspection Robot

被引：0
|
作者：
Yan Yu [1 ,2 ]
Liu Xiaqing [1 ,2 ]
Li Jinliang [1 ,2 ]
Ou Yuexiong [1 ,2 ]
机构：
[1] State Grid Hunan Elect Power Co, Live Working Ctr, Changsha 410100, Hunan, Peoples R China
[2] Hunan Prov Key Lab Intelligent Live Working Techn, Changsha 410100, Hunan, Peoples R China
来源：
4TH INTERNATIONAL CONFERENCE ON MECHANICS AND MECHATRONICS RESEARCH (ICMMR 2017) | 2017年 / 224卷
关键词：
D O I：
10.1088/1757-899X/224/1/012019
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To control the walking posture according to transmission line single arm inspection robot, the robot is divided into normal walking and climbing walking two state, and gives the definition, then based on the state space method of state variable feedback and PD control method is used to control the two states, two kinds of control method of simulation by using Matlab, in the end, the two control methods proposed is validated in the actual circuit structures. The results show that, the proposed control method is rapid and effective, and can meet the needs of practical application.
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页数：8
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