标题：DMC Based Tracking Algorithm for Hot-line Dual-arm Robots
作者：Li, Aimin; Fan, Mingqu; Song, Rui; Li, Yibin; Zhang, Shuaishuai; Xu, Pengyang
作者机构：[Li, Aimin] Shandong Univ Sci & Technol, Coll Elect Engn & Automat, Qingdao 266590, Shandong, Peoples R China.; [Fan, Mingqu] Shandong Univ Sci & Te 更多
会议名称：IEEE International Conference on Information and Automation (ICIA)
会议日期：AUG 01-03, 2016
来源：2016 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA)
关键词：Hot-line Dual-arm operation; The grid maintenance and maintenance; DMC; control
摘要：Hot-line Maintenance Robots are widely applied to the repair and maintenance of the transmission lines and electrical equipment. Hot-line operation tasks tend to complexity, diversity and harsh environments. Duce to the advantages of humanoid property, Hot-line Dual-arm robots will get more applied in areas such as detecting, repairing and maintaining of modern power grid. Currently, master-slave control is the normally used control mode for the Hot-line Dual-arm robots. So the tracking control technology is the key skill of the Hot-line Dual-arm operation. To guarantee the security, precision and dynamic property of the Hot-line Dual-arm operation, it is necessary to have a reliable tracking algorithm for Hot-line Dual-arm robots. This paper presents a tracking control algorithm based on DMC for Hot-line Dual-arm robots. Simulation results demonstrate that this algorithm can reach a precise and effective tracking control of the robots.