It is necessary and imperative to inspect Power Transmission Line (PTL) periodically for its reliable operation. As is known to all that the inspection of manually is a fairly rough work, so, in order to inspect much more efficiently and, at the same time, emancipate people from such rough inspection work, inspection robot emerges as the time require. This paper, which is supported by the HI-TECH RESEARCH AND DEVELOPMENT PROGRAM OF CHINA, is mainly concerned with the research and design of the robot controller. First of all, the current research about PTL inspection robot both here and abroad is given. In addition, several kinds of typical PTL inspection robots are discussed in detail. Following that, the key techniques of PTL inspection robot are outlined. In this chapter, the researches about motion controlling and motion controllers in china and abroad are also particularly discussed. Secondly, the mechanic and controller architecture of PTL inspection robot are discussed, and the obstacle avoidance mechanism is also studied carefully. Thirdly, the motion control system of PTL inspection robot is discussed. This chapter pays great attention to the requirement and design method of motion control system. According to the requirement in practice, is adopted to implement the motion control system, which contains encoder signal processing unit. The experiment shows that the reliability and stability of the motion control system based on are highly improved. Fourthly, considering the special running condition of PTL inspection robot, it is imperative to provide necessary protection measures to prevent the robot and motor from being destroyed. The protection system of PTL inspection robot is implemented under the direction of state machine. It has been verified that the protection system can credibly protect the robot structure and motor system. Finally, according to the character of the servo motor and requirement in practice, the servo driving system is designed. High power is adopted to implement the servo driving system, which can provide sufficient power for the motor in extremely arduous condition. At the same time, buffer circuit is also designed to prevent from being destroyed by the high current. Experiment results verified that the motion controller and servo driving system can provide reliable control, protection and driving for the robot.
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