Implementation of Control System for Insulator Cleaning Robot

摘要

It is very important to maintain power transmission lines without a failure for stable power service without interruption. To prevent reduction of the insulation resistance of insulators, it is required to clean the insulators periodically. Working environment using jets of water by maintenance personnel is dangerous because insulators are located in a high place with a high voltage. Due to the working environment described above, cleaning efficiency and precision is low. To overcome such difficulties, an insulator cleaning robot has been developed. In this paper, the control system for insulator cleaning robot is designed and implemented in consideration of the characteristics of the robot and the insulators, and the validity of the implemented control system is shown via experiments