Inspection Robot Master-Slave Control and End Compliance Method

Substation inspection robot is a special robot for power operation, which can replace manpower to perform power operation and maintenance tasks such as equipment inspection and maintenance operation. In order to improve the efficiency and flexibility of robot patrol operation, this paper proposes a master-slave force feedback control method for patrol robot operation. The end trajectory tracking method of the manipulator oriented to master-slave control is studied, and the tremor suppression of the master-slave operation is tested. The master-slave force feedback control method of multi-degree-of-freedom series manipulator is also studied in this paper. By building an experimental prototype platform, the trajectory tracking accuracy, force feedback accuracy and operation function of the master-slave control system are tested. Experiments show that the master-slave control system has good accuracy and efficiency.