Research on the control method of robotic lead wire grasping for distribution network lap lead wires
Year: 2025
Type: conference-paper
Abstract: Currently, manual grounding wire installation in distribution networks has high risks and low efficiency. Additionally, existing power operation robots face problems such as slow wire-grabbing speeds and low accuracy. To address these issues, this paper proposes a control method for the robot's grounding wire grasping in distribution networks. To solve the problem of the grounding wire swaying under wind load, a YOLOv8-based visual recognition system combined with a depth camera is used to obtain real-time 3D spatial coordinates of the grounding wire. A motion control method based on Model Predictive Control (MPC) is proposed, incorporating an integral term in the prediction model to reduce the system' s steady-state error and achieve precise grasping of the grounding wire by the robotic arm. Simulation analysis and field tests at a 10 kV distribution network demonstrate that this method can quickly and accurately grasp the grounding wire, laying the foundation for grounding wire installation in distribution networks.
Authors: Lei Wu, Shaosheng Fan
Institution: Changsha University of Science and Technology
Language: English
Topic: Power Line Inspection Robots
Subfield: Mechanical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W4413812565