Back to Search
Start Over
Manipulator visual localization motion control for power cable mobile robot in dynamic-unstructured environment
- Source :
- Industrial Robot: the international journal of robotics research and application. 46:93-103
- Publication Year :
- 2019
- Publisher :
- Emerald, 2019.
-
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.
- Subjects :
- Offset (computer science)
Computer science
020208 electrical & electronic engineering
Mobile robot
02 engineering and technology
Fuzzy control system
Robot end effector
Motion control
Fuzzy logic
Industrial and Manufacturing Engineering
Computer Science Applications
law.invention
Control and Systems Engineering
law
Control theory
0202 electrical engineering, electronic engineering, information engineering
Robot
020201 artificial intelligence & image processing
Simulation
Subjects
Details
- ISSN :
- 0143991X
- Volume :
- 46
- Database :
- OpenAIRE
- Journal :
- Industrial Robot: the international journal of robotics research and application
- Accession number :
- edsair.doi...........83ed261c02c53d0869ece09e028a770e