Digital Control Method of Bucket Truck Based on DH Parameter Modeling

In the aspect of electric power maintenance, the control of as bucket truck has always been a difficult problem, causing by its hardware structure. This requires operators to have rich operating experience. However, even so, the operator usually needs to adjust it repeatedly to move the end effector to the appropriate position, which greatly reduces the operation efficiency and increases the risk of the operation. To solve this problem, this paper proposes a digital control method of bucket truck based on DH parameter modeling. In terms of algorithm, we use DH method to establish the mathematical model of the bucket truck and complete the kinematic derivation. In terms of hardware, we modified the bucket truck, adding multiple encoders to obtain the joint values. Experiments show that our theoretical derivation is correct and has high accuracy when applied to the bucket truck.