Obstacle-navigation control of power transmission lines inspection robot
文献类型：会议论文
| 作者 | Ludan wang ; Hongguang Wang ; Lijin Fang |
| 出版日期 | 2007 |
| 会议名称 | 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO |
| 会议地点 | Sanya, China |
| 英文摘要 | 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 thetransmission 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 |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/2138]  |
| 专题 | 深圳先进技术研究院_其他 |
| 推荐引用方式 GB/T 7714 | Ludan wang,Hongguang Wang,Lijin Fang. Obstacle-navigation control of power transmission lines inspection robot[C]. 见:2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. Sanya, China. |
入库方式： OAI收割
来源：深圳先进技术研究院
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