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Position control on center of mass for a power lines inspection robot

In order to implement autonomous inspection of a robot with self-balance dual-arm mechanism, the position of the robot's center of mass must be controlled precisely. This paper analyzes the capability of attitude control and self-balancing control when the robot is operating on power lines, and proposes a mathematical relationship between the robot's attitude and its center of mass by combining the forward kinematics model with the equations of multibody system's center of mass. Besides, the solving equation of the robot's center of mass position is derived, whose inverse solution determines the configuration of the self-balance adjusting mechanism under desired position of the robot's center of mass. Meanwhile, the relationship between the angle of lifting-arm and the robot's center of mass are obtained using the lever principle. Besides, the trajectory planning in the Lifting-arm Mode is also discussed in this paper. And experiment is introduced to validate the reasonability of the center of mass position solving equation and the effectiveness of the control algorithm proposed in this paper.