Vibration analysis of obstacle-avoidance for EHV power transmission lines inspection robot
文献类型：会议论文
| 作者 | Sun CL(孙翠莲); Wang HG(王洪光) ; Zhao MY(赵明扬)
|
| 出版日期 | 2007 |
| 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 |
| 关键词 | inspection robot pinhole camera calibration extra high voltage power transmission line ground line |
| 页码 | 2824-2828 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 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 |
| 语种 | 英语 |
| ISSN号 | 1553-572X |
| ISBN号 | 978-1-4244-0783-5 |
| WOS记录号 | WOS:000253451402134 |
| 源URL | [http://ir.sia.cn/handle/173321/8941]  |
| 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 | Sun CL,Wang HG,Zhao MY. Vibration analysis of obstacle-avoidance for EHV power transmission lines inspection robot[C]. 见:33rd Annual Conference of the IEEE-Industrial-Electronics-Society. Taipei, TAIWAN. November 5-8, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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