Visual Servoing of a New Designed Inspection Robot for Autonomous Transmission Line Grasping

被引：0

作者：

He, Tao ^{[1
,2
]}

Wang, He-sheng ^{[1
,2
]}

Chen, Wei-dong ^{[1
,2
]}

Wang, Wei-jie ^{[1
,2
]}

机构：

[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China

[2] Minist Educ China, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China

来源：

WEARABLE SENSORS AND ROBOTS | 2017年 / 399卷

关键词：

Inspection robot; Power transmission line inspection; Autonomous line grasping; Visual servoing; FEATURES;

D O I：

10.1007/978-981-10-2404-7_42

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents a new visual servoing using two lines features and this method is adopted for a novel dual-arm power transmission line inspection robot to grasp transmission line autonomously. The new designed inspection robot has 5 DOFs ofeach arm, and the arms for the wheel-arm platform will cross obstacle on the transmission lines alternately. With a new mechanism, the robot can actively control the position of its center of mass, thus enhancing its stability and reducing the load on motors when changing its configuration to overcome obstacles. Then an adaptive visual servoing using line features of two power transmission lines for the robot in an uncalibrated eye-in-hand setup is developed, guaranteeing the off-line arm can grasp the line automatically after overcoming obstacles. A new Lyapunov method is used to prove the asymptotic convergence of the errors to zero. The paper ends with the presentation of several simulation results.

引用

页码：553 / 569

页数：17

共 20 条

[1]

Andreff N, 2002, INT J ROBOT RES, V21, P679, DOI 10.1177/027836402761412430

[2] Visual servo control - Part II: Advanced approaches [J].