Autonomous Robotic System for Switchgear Handcart Operation via Visual Servoing and Passive Compliance Control Approach

This paper presents an autonomous robotic system for safe handcart-type circuit breaker operations in substations. Combining a passive compliant end-effector with image-based visual servoing(IBVS), the solution facilitates robust tool-hole alignment and precise localization under unstructured environments. The three-stage operational strategy including initial compliant insertion, lead-screw driving, and torque-monitored positioning, ensures reliable execution while mitigating uncertainties. Experiments in real 10kV switchgear scenarios demonstrate successful completion of racking operations, with visual positioning converging stably and motor current profiles providing clear operational feedback.