Human-robot-environment interaction interface for robotic grit-blasting of complex steel bridges

被引：20
作者：
Chotiprayanakul, P. [1 ]
Liu, D. K. [2 ]
Dissanayake, G. [2 ]
机构：
[1] King Mongkuts Inst Technol, Fac Engn, Bangkok, Thailand
[2] Univ Technol Sydney, ARC Ctr Excellence Autonomous Syst CAS, Sydney, NSW 2007, Australia
来源：
AUTOMATION IN CONSTRUCTION | 2012年 / 27卷
基金：
澳大利亚研究理事会;
关键词：
Steel bridge maintenance; Grit-blasting; Human-robot-environment interaction; Haptic interface; SYSTEM;
D O I：
10.1016/j.autcon.2012.04.014
中图分类号：
TU [建筑科学];
学科分类号：
0813 ;
摘要：
This paper presents a human-robot-environment interaction (HREI) interface using haptic feedback for a grit-blasting robot operating in close proximity to a complex steel bridge structure. The productivity requirements dictate the need for efficient algorithms for mapping, exploration, and collision-free motion planning. While a large portion of the grit-blasting operation can be automated, a tele-operation is essential to deal with some difficult to access sections such as edges, complex corners, and surfaces which can only be approached through hole. A 3-dimensional virtual force field (3D-VF2) method is developed for capturing the relationship between the robot and its environment. A novel haptic force generation method and a workspace mapping algorithm allow intuitive interaction between the operator and the robot through haptic feedback. The strategies presented are verified in extensive simulations and experiments conducted on a steel bridge with a prototype grit-blasting robot. (C) 2012 Elsevier B.V. All rights reserved.
引用
收藏
页码：11 / 23
页数：13
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