Fuzzy control-based bolt tightening for power cable maintenance robot. Issue 4 (18th June 2018)

• Record Type: Journal Article
• Authors: Jiang, Wei; Zhou, Zhiyuan; Yan, Yu; Wu, Gongping; Yu, Lianqing; Li, Hong Jun; Chen, Wei
• Is Part Of: Industrial robot. Volume 45:Issue 4(2018)
• Page Start: 561
• Page End: 571
• Publication Date: 2018-06-18
• Subjects: Fuzzy control -- Online monitoring -- Bolt tightening -- Live maintenance robot -- Operation status; Robots, Industrial -- Periodicals; Machinery in the workplace -- Periodicals; 629.892
• DOI: 10.1108/IR-03-2018-0056
• Languages: English
• ISSNs: 0143-991X

Abstract

Abstract : Purpose: In response to the poor reliability of live maintenance robots in semi-structured environments and the difficulty of monitoring their operation status, this paper aims to propose an online method for evaluating the operation status of high-voltage live maintenance robots based on fuzzy control. Design/methodology/approach: The robot bolt tightening operation is taken as an example. During the whole operation process, the key technologies of bolt tightening are analyzed theoretically, a two-dimensional fuzzy control model of bolt tightening process control is established and the control parameters, which characterize the operation status, are obtained. Through dynamic adjustment of the fuzzy controller, real-time online monitoring of the robot operation status can be achieved. Findings: The results of simulation experiments and 220 kV live operation experiments show that the reliability of robot bolt tightening is greatly enhanced by the proposed control method. Originality/value: The results not only verify the engineering practicability of the fuzzy control-based method but also indicate that it can improve efficiency, safety and operability.