Manipulator visual localization motion control for power cable mobile robot in dynamic-unstructured environment. Issue 1 (21st January 2019)

• Record Type: Journal Article
• Authors: Jiang, Wei; Zhang, An; Wu, Gongping; Yu, Lianqing; Li, Hong Jun; Du, Lizhen; Chen, Wei
• Is Part Of: Industrial robot. Volume 46:Issue 1(2019)
• Page Start: 93
• Page End: 103
• Publication Date: 2019-01-21
• Subjects: Fuzzy logic -- Bolt tightening -- Alignment location -- Live operation robot -- Power cable; Robots, Industrial -- Periodicals; Machinery in the workplace -- Periodicals; 629.892
• DOI: 10.1108/IR-09-2018-0190
• Languages: English
• ISSNs: 0143-991X

Abstract

Abstract : Purpose: To improve the operational efficiency and intelligence of live operation robots in dynamic-unstructured operation environments, this paper aims to propose a fuzzy logic-based method for the autonomous search and visual localization control of a manipulator end effector applied to a drainage plate bolt on a high-voltage transmission line. The proposed approach is based on a four-way video image information output from a dual-operation manipulator. Design/methodology/approach: First, based on the structural characteristics of the drainage line, an autonomous search method for the drainage plate bolt and a mapping relationship between the autonomous search control parameters and the relative posture of the operation manipulator-drainage line are proposed. The posture control parameters of the dual manipulators can then be obtained, and a two-dimensional fuzzy controller is designed with the posture offset distance and the posture offset angle as its input signals. This enables the localization control of the bolt and nut alignment to be realized through a visual process. Findings: The proposed fuzzy control algorithm is used for bolt location control, and its performance is compared with that of the conventional approach. The simulation results indicate that the fuzzy control algorithm greatly improves the localization accuracy and operational efficiency of live operation robots. Originality/value: Field operation experiments on actual transmission lines verify that the fuzzy control-based visual localization control of the robot manipulator has great engineering practicality. Therefore, the proposed method further improves operational intelligence compared with conventional algorithms.