Haptic-enabled control of hydraulic manipulators applied to power line maintenance: Concept & implementation

2010 1st International Conference on Applied Robotics for the Power Industry Pub Date : 2010-11-09 DOI:10.1109/CARPI.2010.5624416

Kurosh Zarei-nia, N. Sepehri, Tim Olson, W. Mueller

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引用次数: 6

Abstract

In this paper, we present development of a scheme enabling a commercially available hydraulic robot to work with a haptic device performing live-line maintenance tasks. Presently live line maintenance is done manually by operators working in locations high above the ground and near high voltage power lines. Ground-level teleoperation of a hydraulic manipulator using a haptic device can potentially increase safety and productivity. The proposed hapto-robotic system is built upon the concept of virtual fixtures. Impedance-type forbidden region virtual fixture is used to help the robot to perform tasks. The control system configures virtual fixtures in the workspace based on the required task. The effectiveness of the system is shown by emulating several live power line maintenance tasks in the laboratory. It is shown that many tasks can be done even by an unskilled operator using the proposed haptically-enabled teleoperation system, which uses intelligence of the human operator along with the accuracy of the manipulator.

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用于电力线维护的液压机械手触觉控制:概念与实现

在本文中，我们提出了一种方案的开发，使商用液压机器人能够与执行在线维护任务的触觉设备一起工作。目前，带电线路的维护是由操作员在离地面高的地方和靠近高压电线的地方手工完成的。利用触觉装置对液压机械手进行地面遥控操作，可以潜在地提高安全性和生产率。提出的触觉机器人系统是建立在虚拟夹具的概念之上的。采用阻抗型禁区虚拟夹具帮助机器人完成任务。控制系统根据需要的任务在工作空间中配置虚拟夹具。通过对实验室中多个带电线路维护任务的仿真，验证了该系统的有效性。结果表明，即使是一个不熟练的操作员，也可以使用所提出的触觉遥控操作系统完成许多任务，该系统利用了人类操作员的智能以及机械手的准确性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2010 1st International Conference on Applied Robotics for the Power Industry

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