Event-Based Planning and Control for Teleoperation of Hot Line Work Robot

摘要

Manual-automatic fusion control is an effect way for a hot line work robot (HLWR)to cope with some unexpected events during its working. In this paper, an event-based planning and control method is introduced to generate a fusion control strategy for HLWR. Firstly, a HLWR prototype consists of a joystick and a robot arm is established. Then by parameterizing the dynamics model of a HLWR with a new position-related variable, an event-based planning and control strategy for the HLWR is proposed and a manual and automatic fusion control is realized. Finally, experimental result shows the fusion strategy is available and efficient for the HLWR to avoid an unexpected obstacle in the workspace and keep tracking a preplanned trajectory.