Design and implementation of Hot-line Working Robot master-slave manipulator

摘要

The Hot-line Working Robot is a kind of live working equipment developed for distribution live line work which is safe, reliable. A force feedback master-slave teleoperation system is designed, which consists of a force feedback master-hand, a slave-hand, and force-feedback control module of master-slave pattern. Design and control method of the force-feedback master-hand, slave-hand and motion control system are introduced in detail, mainly including hardware selection of controller, hydraulic motor, sensors and so on and the flow chart of control system. Finally, introduce the system's position servo control and bilateral force feedback control in particular, and comparing two control methods of position tracking through the MATLAB simulation, which have the certain reference value for the teleoperation robot research.