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)
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| 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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