Research on dual

Regarding the typical operation tasks in high-voltage transmission line environment, in order to effectively eliminate or reduce the disadvantageous effects on the robot operation reliability caused by the close chain internal forces. According to the motion status of manipulator operation, the dual-arm coordination control of the mobile operation robot can be divided into three different modes, which are dual-arm independent operation mode, dual-arm fully constrained mode and dual-arm partially constrained mode. The dynamic model between dual-arm and operation objects for the three different models are established, respectively. The manipulator position and force are set as the control targets, a unified dual-arm coordination controller is designed for the three operation modes. Through the mutual compensation of force error and position error, the close chain internal force can be dynamically allocated in each joints, so that the robot joints force can be balanced during the operation, and the internal force in the close chain can be minimized during the operation process so as to ensure the operation reliability and safety. Finally, the validity and engineering practicability is verified by MATLAB simulation experiment and 220 kV living damper replacement and drainage plate bolt tightening operation experiment, respectively