【摘要】 文章介绍了一种新型的履带式高压输电线路巡检机器人,阐述了基于递阶控制理论的分级控制系统结构设计和基于规则库模型的专家控制系统控制策略,仿真验证了机器人越障动作过程的正确性。更多还原

【Abstract】 A new type crawler inspection robot for high voltage power line is introduced,the structer designment of piecewise control system based-on hierarchical control theory and the control strategy of expert control system based-on rule base are discribed,the action process of the robot pass over obstacle is simulated and its validity is validated.更多还原