Research on Adaptive Control Algorithm of Overhead Robot

Abstract:
The robot control algorithm is the core of the overhead robot control system. The primary task of overhead robots used for high-risk high-voltage wire inspection operations is to ensure that the control system has strong anti-interference ability and control accuracy, and strive to improve the speed of the robot control system. In this paper, the robot obstaclenevigation is decomposed into the individual control of each manipulator, and the motion planning is organically unified to complete the task of robot crossing the obstacle. The fuzzy control algorithm is used to adapt the crawling of the robot at different angles and different degrees of slippage. For the control of the manipulator, an adaptive fuzzy PID control algorithm with variable universe is proposed to meet the requirements of high control difficulty, complex tasks and high control accuracy of the manipulator. Finally, according to the actual situation of the robot, a task plan based on internal pose measurement is designed, and a knowledge base for determining the completion of the action is established to realize the obstacle-crossing movement of the overhead robot.