Research on the control method of robotic lead wire grasping for distribution network lap lead wires

Currently, manual grounding wire installation in distribution networks has high risks and low efficiency. Additionally, existing power operation robots face problems such as slow wire-grabbing speeds and low accuracy. To address these issues, this paper proposes a control method for the robot's grounding wire grasping in distribution networks. To solve the problem of the grounding wire swaying under wind load, a YOLOv8-based visual recognition system combined with a depth camera is used to obtain real-time 3D spatial coordinates of the grounding wire. A motion control method based on Model Predictive Control (MPC) is proposed, incorporating an integral term in the prediction model to reduce the system' s steady-state error and achieve precise grasping of the grounding wire by the robotic arm. Simulation analysis and field tests at a 10 kV distribution network demonstrate that this method can quickly and accurately grasp the grounding wire, laying the foundation for grounding wire installation in distribution networks.