Posture analysis and control of dual-arm mobile for high voltage power lines

A dual-arm mobile robot prototype was described in this paper which can navigate on the ground cable and inspect the high voltage power lines. A dynamic model was built and the robotpsilas motions combined with the cablepsilas deformation and vibration were discussed which showed the rigid-flexible coupling characteristics of the robotpsilas dynamics behavior on the ground cable. A control system based on an expert system was proposed also. By reducing the eccentric moment, the posture of the robot can be adjusted to restrain the influence of the cablepsilas deformation and vibration on the robotpsilas motions. The experiment results show that the control strategy can improve the robotpsilas stability and reliability.