Manipulator visual localization motion control for power cable mobile robot in dynamic-unstructured environment
ISSN: 0143-991x
Article publication date: 2 April 2019
Issue publication date: 12 April 2019
Abstract
Purpose
To improve the operational efficiency and intelligence of live operation robots in dynamic-unstructured operation environments, this paper aims to propose a fuzzy logic-based method for the autonomous search and visual localization control of a manipulator end effector applied to a drainage plate bolt on a high-voltage transmission line. The proposed approach is based on a four-way video image information output from a dual-operation manipulator.
Design/methodology/approach
First, based on the structural characteristics of the drainage line, an autonomous search method for the drainage plate bolt and a mapping relationship between the autonomous search control parameters and the relative posture of the operation manipulator-drainage line are proposed. The posture control parameters of the dual manipulators can then be obtained, and a two-dimensional fuzzy controller is designed with the posture offset distance and the posture offset angle as its input signals. This enables the localization control of the bolt and nut alignment to be realized through a visual process.
Findings
The proposed fuzzy control algorithm is used for bolt location control, and its performance is compared with that of the conventional approach. The simulation results indicate that the fuzzy control algorithm greatly improves the localization accuracy and operational efficiency of live operation robots.
Originality/value
Field operation experiments on actual transmission lines verify that the fuzzy control-based visual localization control of the robot manipulator has great engineering practicality. Therefore, the proposed method further improves operational intelligence compared with conventional algorithms.
Keywords
Acknowledgements
Funding: This work was supported by the 2019 Hubei Provincial Department of Education Scientific Research Project, 2019 WuhanTextile University Funding (National Project Cultivation Plan) and 2018 Open Fund Project for Hubei Key Laboratory of Digital Textile Equipment (Wuhan Textile University) (Project ID:DTL2018026).
Retraction notice: The publishers of Industrial Robot wish to retract the article “Manipulator visual localization motion control for power cable mobile robot in dynamic-unstructured environment” by W. Jiang, A. Zhang, G. Wu, L. Yu, H.J. Li, L. Du and W. Chen, which appeared in Volume 46, issue 1, 2019.
It has come to our attention that there are concerns that the peer review process may have been compromised, and that as a result, the findings may not be relied upon.
The authors of this paper would like to note that they do not agree with the content of this notice.
The publishers of the journal sincerely apologize to the readers.
Citation
Jiang, W., Zhang, A., Wu, G., Yu, L., Li, H.J., Du, L. and Chen, W. (2019), "Manipulator visual localization motion control for power cable mobile robot in dynamic-unstructured environment", Industrial Robot, Vol. 46 No. 1, pp. 93-103. https://doi.org/10.1108/IR-09-2018-0190
Publisher
:Emerald Publishing Limited
Copyright © 2019, Emerald Publishing Limited