Research on Live Working Robot Based on Weak Rigid Master-slave Control Algorithm

摘要

This paper studies the live working robots with weak rigid and large delay master-slave control algorithms, including the overall design, the study of mobile insulation platforms suitable for the field complex working conditions, the research of small working space robots working platforms, and the large delay based on weak rigidity, the man-machine operation interactive control strategy research, test verification, conclusions and other components. The mobile insulation platform adopts crawler-type walking mechanism and can be applied to most farmland or rugged roads, with one-button automatic leveling of the outriggers. The small working space robot operation platform can satisfy various working space environments. We research the weak rigid large-scale man-machine operation interactive control strategy to solve the long-delay teleoperation problem, and complete live tasks such as disconnecting and diverting lines, removing branches, and removing foreign materials.