Teleoperated Live-Line Distribution Working Robot Based on Human-Robot Shared Control

Traditional live-line work on distribution power lines relies on manual labor, characterized by high risk, high labor intensity, and high training costs; thus, developing distribution live-line working robots is an essential path to replacing manual operations. However, the working environment is highly unstructured and dynamic, with challenges such as complex outdoor lighting and unpredictable wind conditions. Existing robots primarily use either master-slave teleoperation or fully autonomous modes, which impose heavy mental burdens on operators, are highly susceptible to misoperation, and exhibit limited environmental adaptability. To address these issues, this study presents a teleoperated distribution live-line working robot based on human-robot shared control. The final manipulator trajectory is obtained by a linearly weighted combination of two reference trajectories separately provided by the human operator and the robot's automatic planning module. This approach reduces the robot's dependency on the operator, alleviates operator mental burden, improves efficiency, and prevents abrupt misoperations by the human operator. Finally, the paper presents the system design and verifies its effectiveness through application in real-world live-line tapping operations.