Dual Arms Running Control Method of Inspection Robot Based on Obliquitous Sensor

Inspection robot with dual wheels encounters upslope and down slope, when it runs on the overhead ground wires (OGWs) which displays catenary shape. The tilt of the body of inspection robot, which is caused by the angle variation of catenary in different position, will occur during running procedure, and disenable to check vertically the transmission lines by camera. An adjustment method, which can keep the body of inspection robot in horizontal pose, is presented by the obliquitous sensor changing the length of the manipulators in this paper. In order to implement the pose adjustment, the dynamic model is established by Lagrange method. Finally, the simulation and experiment results show that the adjustment method proposed is feasible