The structural characteristics of the patrol robot for high-voltage transmission lines are analyzed, the spatial coordinates of the patrol robot are constructed using the DH method, and the dynamic model of the robot arm is established using the Lagrange method. Based on this dynamic model, the inverse problem of the dynamics of each joint of the robot arm is simulated for a typical working condition. By giving the displacement and velocity curves of each joint corresponding to the known motion trajectory, the required joint torque or joint force is determined, providing a theoretical basis for the real-time control of the robot.
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