DMC based tracking algorithm for hot-line dual-arm robots

Abstract

Hot-line Maintenance Robots are widely applied to the repair and maintenance of the transmission lines and electrical equipment. Hot-line operation tasks tend to complexity, diversity and harsh environments. Duce to the advantages of humanoid property, Hot-line Dual-arm robots will get more applied in areas such as detecting, repairing and maintaining of modern power grid. Currently, master-slave control is the normally used control mode for the Hot-line Dual-arm robots. So the tracking control technology is the key skill of the Hot-line Dual-arm operation. To guarantee the security, precision and dynamic property of the Hot-line Dual-arm operation, it is necessary to have a reliable tracking algorithm for Hot-line Dualarm robots. This paper presents a tracking control algorithm based on DMC for Hot-line Dual-arm robots. Simulation results demonstrate that this algorithm can reach a precise and effective tracking control of the robots.