Dual Arm Robot for Maintenance of High Voltage Power Line

摘要

A dual arm robot for maintenance of high voltage power line is introduced in this paper. The control system of the robot has open architecture and the robot can work in master-slave mode or automatic mode. Effective measures have been taken to insulate high voltage and to prevent interference. Algorithms have been developed to avoid the collision between the two arms. Visual informations are integrated for guiding the robot to operate object.