{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,12]],"date-time":"2026-02-12T16:08:43Z","timestamp":1770912523557,"version":"3.50.1"},"reference-count":16,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2024,7,12]],"date-time":"2024-07-12T00:00:00Z","timestamp":1720742400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2024,12,2]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to address the challenges of the capacitor tower maintenance robot during bolt tightening in high-voltage substations, including difficulties in bolt positioning due to tilted angles and anti-bird cover occlusion and issues with fast and accurate docking of bolts while the base is moving.<\/jats:p>\n<\/jats:sec>\n<jats:sec><jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>This paper proposes a visual servoing method for the capacitor tower maintenance robot, including bolt pose estimation and visual servoing control. Bolt pose estimation includes four components: constructing a keypoint detection network to identify the approximate position, precise positioning, rapid prediction and calculation of bolt pose. In visual servoing, an improved position-based visual servoing (PBVS) is proposed, which eliminate steady-state error and enhance response speed during dynamic tracking by incorporating integral and differential components.<\/jats:p>\n<\/jats:sec>\n<jats:sec><jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The bolt detection method exhibits high robustness against varying lighting conditions, partial occlusions, shooting distances and angles. The maximum positioning error at a distance of 250\u2009mm is 2.8\u2009mm. The convergence speed of the improved PBVS is 10% higher than that of the traditional PBVS when the base and target remain relatively stationary. When the base moves at a constant speed, the improved method eliminates steady-state error in dynamic tracking. When the base moves rapidly and intermittently, the maximum error of the improved method in the tracking process is 30% smaller than that of traditional PBVS.<\/jats:p>\n<\/jats:sec>\n<jats:sec><jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This method enables real-time detection and positioning of bolts in an unstructured environment with tilt angles, variable lighting conditions and occlusion by anti-bird covers. An improved PBVS is proposed to enhance its capability in tracking dynamic targets.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-03-2024-0083","type":"journal-article","created":{"date-parts":[[2024,7,11]],"date-time":"2024-07-11T00:57:47Z","timestamp":1720659467000},"page":"1036-1048","source":"Crossref","is-referenced-by-count":2,"title":["Visual servoing method of high voltage capacitor tower maintenance robot in bolt tightening"],"prefix":"10.1108","volume":"51","author":[{"given":"Yuze","family":"Wu","sequence":"first","affiliation":[]},{"given":"Jianbin","family":"Liao","sequence":"additional","affiliation":[]},{"given":"Liangyu","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Yu","family":"Yan","sequence":"additional","affiliation":[]},{"given":"Yunfei","family":"Ai","sequence":"additional","affiliation":[]},{"given":"Yunxiang","family":"Li","sequence":"additional","affiliation":[]},{"given":"Wang","family":"Wei","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2024,7,12]]},"reference":[{"issue":"4","key":"key2024112907362711000_ref001","doi-asserted-by":"crossref","first-page":"82","DOI":"10.1109\/MRA.2006.250573","article-title":"Visual servo control. 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