Research on Control Algorithm of Visual Servo Grasping Operating System for Unmanned Aerial Vehicle Robot Arm for Transmission Line Inspection

This paper is oriented to the transmission line inspection environment, aiming to solve the problem of how to control the robotic arm to quickly and accurately grasp the target object, and work on the planning of the motion path and the position-based visual servo control method. For the spatial trajectory planning of the robotic arm, linear trajectory planning and circular arc trajectory planning are carried out respectively. Between the reaction speed problem of the traditional RRT motion algorithm in collision-free motion planning, a two-way RRT-Connect path planning method is proposed. Then the visual servo control algorithm of the UAV robotic arm is proposed. The position-based visual servo control method is adopted, while the EK-SVSF position estimation algorithm and the OWA-based stepwise data fusion algorithm are combined for optimal position estimation of the target during transmission line inspection. It is verified in simulation experiments that the improved RRT algorithm can obtain the shortest path planning in a shorter time with better performance. Finally, the grasping experiment is carried out in a real robotic arm transmission line inspection scene. The robotic arm path planning algorithm and visual servo control proposed in this paper are combined to carry out grasping experiments in a static cluttered environment. The experimental results show that the algorithm proposed in this paper has the best grasping success rate, servo success rate, and grasping similarity. In addition, the average errors in x-axis, y-axis and z-axis of the proposed method are 0.19cm, 1.11cm and 0.18cm, respectively, which show a good grasping accuracy, indicating that the control method proposed in this paper can be applied to the real transmission line inspection work scenarios.