中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Obstacle-navigation control of power transmission lines inspection robot

文献类型:会议论文

作者Wang LD(王鲁单); Wang HG(王洪光); Fang LJ(房立金)
出版日期2007
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
关键词obstacle-navigation control camera-in-hand system line-grasping control visual servoing
页码706-711
中文摘要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 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.
收录类别EI ; CPCI(ISTP)
产权排序1
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
语种英语
ISBN号978-1-4244-1761-2
WOS记录号WOS:000257065800125
源URL[http://ir.sia.cn/handle/173321/8813]  
专题沈阳自动化研究所_机器人学研究室
推荐引用方式
GB/T 7714
Wang LD,Wang HG,Fang LJ. Obstacle-navigation control of power transmission lines inspection robot[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2007). Sanya, China. December 15-18, 2007.

入库方式: OAI收割

来源:沈阳自动化研究所

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