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Fuzzy control-based bolt tightening for power cable maintenance robot

Wei Jiang (Wuhan Textile University, Wuhan, China and Hubei Engineering Research Center of Industrial Detonator Intelligent Assembly, Wuhan, China)
Zhiyuan Zhou (Wuhan Textile University, Wuhan, China and Hubei Engineering Research Center of Industrial Detonator Intelligent Assembly, Wuhan, China)
Yu Yan (State Grid of Hunan Electric Power Company Maintenance Company, Changsha, China and State grid laboratory for live inspection and intelligent operation technology, and Hunan province key laboratory for intelligent live operation technology and equipment (robot))
Gongping Wu (Wuhan University, Wuhan, China)
Lianqing Yu (Wuhan Textile University, Wuhan, China)
Hong Jun Li (Wuhan Textile University, Wuhan, China and Hubei Engineering Research Center of Industrial Detonator Intelligent Assembly, Wuhan, China)
Wei Chen (Wuhan Textile University, Wuhan, China and Hubei Engineering Research Center of Industrial Detonator Intelligent Assembly, Wuhan, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 15 August 2018

Issue publication date: 29 August 2018

167

Abstract

Purpose

In response to the poor reliability of live maintenance robots in semi-structured environments and the difficulty of monitoring their operation status, this paper aims to propose an online method for evaluating the operation status of high-voltage live maintenance robots based on fuzzy control.

Design/methodology/approach

The robot bolt tightening operation is taken as an example. During the whole operation process, the key technologies of bolt tightening are analyzed theoretically, a two-dimensional fuzzy control model of bolt tightening process control is established and the control parameters, which characterize the operation status, are obtained. Through dynamic adjustment of the fuzzy controller, real-time online monitoring of the robot operation status can be achieved.

Findings

The results of simulation experiments and 220 kV live operation experiments show that the reliability of robot bolt tightening is greatly enhanced by the proposed control method.

Originality/value

The results not only verify the engineering practicability of the fuzzy control-based method but also indicate that it can improve efficiency, safety and operability.

Keywords

Acknowledgements

Funding: This work was supported by the Hubei Natural Science Foundation of China (2018CFB273) 2018 Open Project for Hubei Key Laboratory of Digital Textile Equipment (Wuhan Textile University).

Citation

Jiang, W., Zhou, Z., Yan, Y., Wu, G., Yu, L., Li, H.J. and Chen, W. (2019), "Fuzzy control-based bolt tightening for power cable maintenance robot", Industrial Robot, Vol. 45 No. 4, pp. 561-571. https://doi.org/10.1108/IR-03-2018-0056

Publisher

:

Emerald Publishing Limited

Copyright © 2018, Emerald Publishing Limited

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