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This paper presents a bi-brachiate robot for the inspection tasks of the high voltage power transmission line (HVPTL). The robot adopts a turning around method to get across the component (obstacles for the robot) installed on the HVPTL, and the process of the obstacle negotiation is expressed in detail. A simplified two-link model of the robot during obstacle negotiating stage is given. The adaptive fuzzy system is employed to approximate the model's uncertain nonlinear functions, and the robot controller is given based on the approximation result. Simulation and field experiment results illustrate the validity of the proposed controller and effectiveness of the inspection robot.
Date of Conference: 20-23 June 2010