Dynamic model and simulation of an inspection robot for power transmission lines: Preliminary results

2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI:10.1109/CARPI.2010.5624479

L. García-Valdovinos, Arturo Velarde-Sanchez, L. del Llano-Vizcaya, T. Salgado-Jiménez, F. Hernandez-Rosales, Felipe Martinez-Soto

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引用次数: 5

Abstract

Power line inspection and maintenance are fields of application where robotics has yet to be introduced. This paper presents the dynamic model and control of a 5 dof (degrees of freedom) dual-arm hanging robot manipulator. Prior to the construction of a prototype, it is worthwhile and necessary to model and analyze the robot performance, by means of numerical simulation, under conditions closer to reality, such as wind currents, joint and contact friction, sampling time, train gear and actuator dynamics, control strategies, among others. For the sake of simplicity, and without loss of generality, the inspection robot is considered as an open kinematics chain, wherein one of its extremities is fixed to the line and the other one is free to move. Based on the Euler-Lagrange formalism, the accomplished model is non-linear, fully actuated, and nonredundant, with rigid links and joints. Validity of the dynamic model is verified through numerical simulations by using Matlab-Simulink.

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输电线路巡检机器人的动力学模型与仿真:初步结果

电力线的检查和维护是机器人尚未引入的应用领域。提出了一种五自由度双臂悬挂式机械臂的动力学模型和控制方法。在构建原型机之前，通过数值模拟的方式对接近现实的条件下的机器人性能进行建模和分析是值得和必要的，这些条件包括气流、关节和接触摩擦、采样时间、列车齿轮和执行器动力学、控制策略等。为简单起见，又不失通用性，将检测机器人视为一条开放的运动链，其中一端固定在直线上，另一端自由运动。基于欧拉-拉格朗日的形式，完成的模型是非线性的，全驱动的，非冗余的，具有刚性连杆和关节。利用Matlab-Simulink进行数值仿真，验证了动态模型的有效性。

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2010 1st International Conference on Applied Robotics for the Power Industry

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