Dynamic Modelling and Obstacle Avoidance for Cable Maneuvering Robot - In application to Transmission line Inspection robots
- Narrendar.R.C
- Prof.S.Denis Ashok
- Mobile Robot, Dynamic Control, Path planning, Obstacle Avoidance
Power transmission involves the crucial part power supply over a country. Continues assessment and inspection
can effectively promote the overall productivity of these energy systems. Deployment of mobile robots can provide an
effective solution to this problem. In this paper inspection tasks performed by the robot carrying detection instruments
and rolling/crawling along the overhead ground wires are considered. There are different uncertainties involved with the
inertial aspects of transmission line and the robot, achieving an accurate mathematical model of the system is difficult,
which in turn increases the complexity over control. But coupling the dynamic aspects between the robot and its moving
path can give better control over motion precision. This paper involves the dynamic modelling of cable maneuvering robot
enabling traction control and centroid compensation. The scope of these analysis will help in understanding the system’s
stability and achieving its control effectively. Path planning and obstacle avoidance schemes are developed based on the
former results.
Narrendar.R.C, Prof.S.Denis Ashok. "Dynamic Modelling and Obstacle Avoidance for Cable Maneuvering Robot - In application to Transmission line Inspection robots".INTERNATIONAL JOURNAL OF ENGINEERING DEVELOPMENT AND RESEARCH ISSN:2321-9939, Vol.2, Issue 4, pp.3372-3376, URL :https://rjwave.org/ijedr/papers/IJEDR1404003.pdf
Volume 2 Issue 4
Pages. 3372-3376
