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Research on efficient grasping of unmanned aerial vehicle robotic arm based on visual servoing technology in transmission line inspection operations

Jinfu Han

Jinfu Han

State Grid Heilongjiang Electric Power Company Limited Extrahigh Voltage CompanyHarbin, China
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Han, Jinfu
, 
Songnan Liu

Songnan Liu

Northeast Branch of State Grid Corporation of ChinaShenyang, China
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Liu, Songnan
, 
Peiyong Yu

Peiyong Yu

State Grid Heilongjiang Electric Power Company Limited Extrahigh Voltage CompanyHarbin, China
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Yu, Peiyong
, 
Wei Yang

Wei Yang

State Grid Heilongjiang Electric Power Company Limited Extrahigh Voltage CompanyHarbin, China
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Yang, Wei
 und 
Xinlei Xu

Xinlei Xu

State Grid Heilongjiang Electric Power Company Limited Extrahigh Voltage CompanyHarbin, China
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Xu, Xinlei
  
24. Sept. 2025
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Online veröffentlicht: 24. Sept. 2025
Eingereicht: 19. Jan. 2025
Akzeptiert: 20. Apr. 2025
DOI: https://doi.org/10.2478/amns-2025-0953
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© 2025 Jinfu Han et al., published by Sciendo
This work is licensed under the Creative Commons Attribution 4.0 International License.

Figure 1.

Mechanical arm coordinate system
Mechanical arm coordinate system

Figure 2.

The flying machine arm grabs the scene
The flying machine arm grabs the scene

Figure 3.

Simulation of line-grasping control
Simulation of line-grasping control

Figure 4.

Three-dimensional space random motion speed
Three-dimensional space random motion speed

Figure 5.

Accuracy of estimation accuracy of physical flight mechanical arm position
Accuracy of estimation accuracy of physical flight mechanical arm position

Line-grasping control experiment results

Experimental serial number 3 5 14 26 35 42
Initial deflection θ(t)/(°) 6 22.482 19 26.756 3 27.958
Initial deviation λ(t)/pixels 197.554 -187.669 164.158 71.598 207.694 -203.482
End deflection θ(t)/(°) 1.321 1 1.515 1.578 1.566 0
Termination offset λ0/pixels -0.248 1 1.836 -0.287 -0.795 1
Scratch time/s 116 124 137 147 108 119
Experimental serial number 53 55 61 70 98 99
Initial deflection θ(t)/(°) 6.485 1 4 35 8 -1.657
Initial deviation λ(t)/pixels 187.652 206 123.856 -91.632 -195 -148.565
End deflection θ(t)/(°) 1.251 1 1 1 1.265 1.526
Termination offset λ0/pixels 0.578 1 -0.578 0 -22.485 11.822
Scratch time/s 126 98 67 159 46 43
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