Design of control system based on D-H method for live-maintain robot on Energized Transmission

摘要

On the foundation of a kinematics modeling based on D-H method, in this paper, we designed the control system of live-maintain robot on energized transmission. After analysis requirements of practical and control of robot, the control system is designed by being integrated, which is good to coordinate sport joints. The control system of robot is made up by sport control system, video system, power supply system and communication system. The wireless and 3G network card constitute the base station system. The result of test on high voltage laboratory and practical energized transmission further proved the stability of control system, the ability of anti-electromagnetic interference and transmission of information and the practicability of the robot.