Visual servoing method of high voltage capacitor tower maintenance robot in bolt tightening
Yuze Wu,
Jianbin Liao,
Liangyu Liu
et al.
Abstract:Purpose
This paper aims to address the challenges of the capacitor tower maintenance robot during bolt tightening in high-voltage substations, including difficulties in bolt positioning due to tilted angles and anti-bird cover occlusion and issues with fast and accurate docking of bolts while the base is moving.
Design/methodology/approach
This paper proposes a visual servoing method for the capacitor tower maintenance robot, including bolt pose estimation and visual servoing control. Bolt pose estimation inc… Show more
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