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题名: Obstacle-navigation control of power transmission lines inspection robot
作者: Wang LD(王鲁单) ; Wang HG(王洪光) ; Fang LJ(房立金)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics and Biomimetics (ROBIO 2007)
会议日期: December 15-18, 2007
会议地点: Sanya, China
会议主办者: IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn
会议录: 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 706-711
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-1761-2
关键词: obstacle-navigation control ; camera-in-hand system ; line-grasping control ; visual servoing
摘要: This paper presents an inspection robot suspended on power transmission lines based on a novel movement mechanism with two manipulators and a body. After the inspection robot configuration is described, the process of obstacle-navigation are analyzed in details. During the process of auto obstacle-navigation, power line grasping control should be realized exactly with the arm of inspection robot. According to the transmission line geometry characteristic and the theory of perspective projection, a single camera stereovision method has been set up to detect the orientation and position vector of the power transition line. Based on that arithmetic and theory of visual servoing, line grasping servoing model is built up to achieve line-grasping control. Experimental results show that the robot can realize auto obstacle-navigation control and proves the valid of the control method.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8813
Appears in Collections:机器人学研究室_会议论文

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