Details

Autor(en) / Beteiligte

• Bandala, Manuel
• West, Craig
• Monk, Stephen
• Montazeri, Allahyar
• Taylor, C. James

Titel

Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments

Ist Teil von

• Robotics (Basel), 2019-06, Vol.8 (2), p.42

Ort / Verlag

Basel: MDPI AG

Erscheinungsjahr

2019

Quelle

EZB Electronic Journals Library

Beschreibungen/Notizen

• This article investigates visual servoing for a hydraulically actuated dual-arm robot, in which the user selects the object of interest from an on-screen image, whilst the computer control system implements via feedback control the required position and orientation of the manipulators. To improve on the current joystick direct tele-operation commonly used as standard in the nuclear industry, which is slow and requires extensive operator training, the proposed assisted tele-operation makes use of a single camera mounted on the robot. Focusing on pipe cutting as an example, the new system ensures that one manipulator automatically grasps the user-selected pipe, and appropriately positions the second for a cutting operation. Initial laboratory testing (using a plastic pipe) shows the efficacy of the approach for positioning the manipulators, and suggests that for both experienced and inexperienced users, the task is completed significantly faster than via tele-operation.