Human–robot–environment interaction interface for robotic grit-blasting of complex steel bridges
Human–robot–environment interaction interface for robotic grit-blasting of complex steel bridges
复制标题
用于复杂钢桥机器人喷砂的人-机器人-环境交互界面
DOI：
10.1016/j.autcon.2012.04.014
复制
发表时间：
2012
影响因子：
10.3
通讯作者：
G. Dissanayake
中科院分区：
文献类型：
--
作者：
P. Chotiprayanakul;Dikai Liu;G. Dissanayake
本文提出了一种人-机器人-环境交互 (HREI) 界面，该界面使用触觉反馈，用于在复杂钢桥结构附近运行的喷砂机器人。生产力要求决定了对映射、探索和无碰撞运动规划的高效算法的需求。虽然大部分喷砂操作可以自动化，但远程操作对于处理一些难以接近的部分（例如边缘、复杂的拐角和只能通过孔接近的表面）至关重要。开发了一种 3 维虚拟力场 (3D-VF2) 方法来捕获机器人与其环境之间的关系。新颖的触觉力生成方法和工作空间映射算法允许操作员和机器人之间通过触觉反馈进行直观的交互。所提出的策略在使用原型喷砂机器人在钢桥上进行的广泛模拟和实验中得到了验证。
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.