Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments
Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments
复制标题
DOI：
10.3390/robotics8020042
复制
发表时间：
2019-06-01
期刊：
影响因子：
3.7
通讯作者：
Taylor, C. James
中科院分区：
文献类型：
--
作者：
Bandala, Manuel;West, Craig;Taylor, C. James
本文研究了液压驱动双臂机器人的视觉伺服，其中用户从屏幕图像中选择感兴趣的对象，而计算机控制系统通过反馈控制实现操纵器所需的位置和方向。为了改进目前核工业中常用的标准操纵杆直接远程操作，这种操作速度慢并且需要大量的操作员培训，所提出的辅助远程操作利用安装在机器人上的单个摄像机。以管道切割为例，新系统可确保一个机械手自动抓住用户选择的管道，并适当定位第二个机械手以进行切割操作。初步实验室测试（使用塑料管）显示了该机械手定位方法的有效性，并表明对于有经验和缺乏经验的用户来说，完成任务的速度明显快于远程操作。
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.