绝缘子带电检测机器人多自由度串联舵机抗干扰控制OA

In the anti-interference control of robot multi degree of freedom series actuator,the Hidden Markov Model(HMM)is mainly used for trajectory tracking and dynamic compensation.However,it is easily affected by the abnormal effect of control law,leading to high trajectory tracking errors.Therefore,an effective anti-interference control method for multi degree of freedom series actuator of an insulator live detection robot is proposed.First,an operational dynamics model is constructed based on Lagrange me-chanics,and an anti-interference control center for the robot multi degree of freedom series actuator is de-signed to determine the coupling state.Subsequently,the desired trajectory is generated according to the planned task,and the joint decoupling and interference compensation are carried out through the coordina-tion layer.The sliding mode variable structure is used to generate the switching function for dynamic com-pensation and trajectory tracking optimization of the actuator.Combined with a nonlinear model built from the core driving states of the actuator,the reaching speed parameters are adjusted,the control law is out-put,and the coordinated sliding mode control quantity is updated to complete the anti-interference control of the multi degree of freedom series actuator of the insulator live detection robot.Experimental results show that under various operating scenarios of the insulator live-detection robot,the proposed method a-chieves anti-disturbance control trajectory tracking mean square errors below 1.0 mm.The robot probe operates with a stable trajectory,enables real-time torque compensation to counteract sudden disturb-ances,and exhibits adaptive real-time dynamic responsiveness.