Autonomous location control of a robot manipulator for live maintenance of high-voltage transmission lines

摘要

Purpose - This paper aims to develop a robot for tightening charged bolt to solve the shortcomings of high labor intensity, low efficiency, high risk and poor reliability in artificially tightening drainage board bolt of strain clamp for high voltage transmission line. Realizing bolt-nut capture and location by manipulator is a critical process to complete the whole working task. To solve such key technology, an autonomous location control method for N-joint robot manipulator based on kinematics was proposed.