Journal of Northeastern University Natural Science ›› 2016, Vol. 37 ›› Issue (11): 1530-1535.DOI: 10.12068/j.issn.1005-3026.2016.11.003

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Four Arm Mobile Working Robot Linkage Control for High Voltage Transmission Line Based on BP Neural Network

JIANG Wei, WU Gong-ping, FAN Fei, ZHANG Jie   

  1. School of Power & Mechanical Engineering, Wuhan University, Wuhan 430072, China.
  • Received:2015-06-18 Revised:2015-06-18 Online:2016-11-15 Published:2016-11-18
  • Contact: WU Gong-ping
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Abstract: In response to the shortage of tension clamp drainage board bolt tighten for high voltage transmission line on artificial low operation efficiency, labor-intensive, high-altitude, and high risk, a four arm mobile working robot was designed. In order to improve the operation efficiency, a robot arm linkage control algorithm was proposed based on BP neural network. The linkage control of the robot was abstracted into trajectory tracking control problem. In the Matlab environment, robot manipulator end tracking simulations were carried out from three directions. Finally the robot charged tighten bolt was tested on the actual line. Simulation and field tests verified that the proposed four arms mobile work robot linkage control method is feasible and effective with a strong engineering practicality which meet the design requirements of improving the operation efficiency.

Key words: mobile working robot, BP neural networks, bolt tighten, trajectory tracking, linkage control

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