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题名: Vibration analysis of obstacle-avoidance for EHV power transmission lines inspection robot
作者: Sun CL(孙翠莲) ; Wang HG(王洪光) ; Zhao MY(赵明扬)
作者部门: 机器人学研究室
会议名称: 33rd Annual Conference of the IEEE-Industrial-Electronics-Society
会议日期: November 5-8, 2007
会议地点: Taipei, TAIWAN
会议主办者: IEEE Ind Elect Soc, Natl Chung Cheng Univ, Soc Instrument & Control Engineers, Natl Taiwan Univ, Natl Chung Cheng Univ, Acad Fdn
会议录: IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 2824-2828
收录类别: CPCI(ISTP) ; EI
ISSN号: 1553-572X
ISBN号: 978-1-4244-0783-5
关键词: inspection robot ; pinhole camera calibration ; extra high voltage power transmission line ; ground line
摘要: Research on the inspection robot for extra high voltage (EHV) power transmission lines focuses on their practical applications in the electric industry. Obstacle-avoidance plays a key in the inspection robot. When there is ambient interference, such as wind, a vibration is thereby occurred, which influences on the lines localization precision of the arm mechanism of the robot during the avoidance motion. However, solid simulation and computation has revealed that the localization precision could not be compensated by the kinematics model without freedom in the vibration directions. In the present study, the errors in structural distortion of the arm and the oscillation originated from the ambient interference are represented. In order to improve the localization precision, the errors in structural distortion is put into the calibration model of micro-cameras to attempt to analyse the vibration. In addition, navigating experiments of the image of the lines localization is provided to confirm the vibration analysis available for obstacle-avoidance.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8941
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
孙翠莲; 王洪光; 赵明扬.Vibration analysis of obstacle-avoidance for EHV power transmission lines inspection robot.见:IEEE .IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS,NEW YORK,2007,2824-2828
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