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Performing live-line maintenance with teleoperated manipulator. Lineman uses a hand-controller to control manipulator from a distance.
Source publication
This paper reports technical design of a novel experimental test facility, using haptic-enabled teleoperation of robotic manipulators, for live transmission line maintenance. The goal is to study and develop appropriate techniques in repair overhead power transmission lines by allowing linemen to wirelessly guide a remote manipulator, installed on...
Contexts in source publication
Context 1
... robotics technology, a hydraulic manipulator can be mounted on top of a live-line truck to perform tasks using a hot-stick, which keeps lineman at a suitable and safe dis- tance from the energized lines. The concept is described in Figure 3. A hot-stick (with associated tools) is attached to the end-effector of a robotic arm. The robotic manipulator is then remotely controlled by a lineman/operator enabling him to perform typical live-line maintenance tasks from a safe dis- tance away from the high voltage power lines. Figure 4a depicts the information flow of the concept shown in Figure 3. As observed, the operator controls the hand controller at the master site, then the communication channel transfers position, velocity and/or force information to the slave site, and the slave manipulator interacts with the environment. Figures 4b and 4c show how information exchanges between master and slave sites in unilateral and bilateral control modes, respectively. In unilateral mode, only information of the master device is sent to the slave side to be used in slave controller, while if the slave manipulator also redirects some information back to the master, by using feed- backs, the system is bilateral (Hokayem and Spong, ...
Context 2
... robotics technology, a hydraulic manipulator can be mounted on top of a live-line truck to perform tasks using a hot-stick, which keeps lineman at a suitable and safe dis- tance from the energized lines. The concept is described in Figure 3. A hot-stick (with associated tools) is attached to the end-effector of a robotic arm. The robotic manipulator is then remotely controlled by a lineman/operator enabling him to perform typical live-line maintenance tasks from a safe dis- tance away from the high voltage power lines. Figure 4a depicts the information flow of the concept shown in Figure 3. As observed, the operator controls the hand controller at the master site, then the communication channel transfers position, velocity and/or force information to the slave site, and the slave manipulator interacts with the environment. Figures 4b and 4c show how information exchanges between master and slave sites in unilateral and bilateral control modes, respectively. In unilateral mode, only information of the master device is sent to the slave side to be used in slave controller, while if the slave manipulator also redirects some information back to the master, by using feed- backs, the system is bilateral (Hokayem and Spong, ...
Context 3
... robotics technology, a hydraulic manipulator can be mounted on top of a live-line truck to perform tasks using a hot-stick, which keeps lineman at a suitable and safe dis- tance from the energized lines. The concept is described in Figure 3. A hot-stick (with associated tools) is attached to the end-effector of a robotic arm. The robotic manipulator is then remotely controlled by a lineman/operator enabling him to perform typical live-line maintenance tasks from a safe dis- tance away from the high voltage power lines. Figure 4a depicts the information flow of the concept shown in Figure 3. As observed, the operator controls the hand controller at the master site, then the communication channel transfers position, velocity and/or force information to the slave site, and the slave manipulator interacts with the environment. Figures 4b and 4c show how information exchanges between master and slave sites in unilateral and bilateral control modes, respectively. In unilateral mode, only information of the master device is sent to the slave side to be used in slave controller, while if the slave manipulator also redirects some information back to the master, by using feed- backs, the system is bilateral (Hokayem and Spong, ...
Context 4
... robotics technology, a hydraulic manipulator can be mounted on top of a live-line truck to perform tasks using a hot-stick, which keeps lineman at a suitable and safe dis- tance from the energized lines. The concept is described in Figure 3. A hot-stick (with associated tools) is attached to the end-effector of a robotic arm. The robotic manipulator is then remotely controlled by a lineman/operator enabling him to perform typical live-line maintenance tasks from a safe dis- tance away from the high voltage power lines. Figure 4a depicts the information flow of the concept shown in Figure 3. As observed, the operator controls the hand controller at the master site, then the communication channel transfers position, velocity and/or force information to the slave site, and the slave manipulator interacts with the environment. Figures 4b and 4c show how information exchanges between master and slave sites in unilateral and bilateral control modes, respectively. In unilateral mode, only information of the master device is sent to the slave side to be used in slave controller, while if the slave manipulator also redirects some information back to the master, by using feed- backs, the system is bilateral (Hokayem and Spong, ...
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Citations
... Hayn and Schwarzmann 15 designed an intuitive operational interface to guide a predefined trajectory of a hydraulic excavator's arm. In robot-assisted live-line maintenance applications, Banthia et al. 16 generated a virtual spring force from the haptic device to pull the operator's hand toward the desired trajectory. Maddahi et al. 17 presented an augmented VF to mitigate the position errors between the master and slave, and the result shows that the position error is reduced by at least 71%. ...
Operating heavy-duty hydraulic manipulators with a master-slave control system is very challenging to execute complex tasks in unstructured environments. In this paper, to improve the operational efficiency for performing repetitive tasks, we designed a dynamical guidance virtual fixture via learning from demonstration to assist the operation. A data fitting method is proposed by reconstituting the control vertexes to address the operation noises caused by response lag and oscillation tendency of hydraulic manipulators, such that a smooth nominal trajectory is obtained and used to generate the virtual fixture. Then, a pipe-constraint guidance virtual fixture is designed with multiple control modes to meet the demands of free and constraint motion. Comparative tests were carried out with a 3-DOF hydraulic manipulator to perform trajectory tracking tasks and movement within a limited space. Compared with no assistance, the results show that the average time of task completion can be reduced by over 50% with the proposed guidance virtual fixture. Besides, the mental pressure of the operator can be reduced since collision avoidance can be easily achieved.
... The 4th order Runge-Kutta method is used to generate the numerical simulation model described in this paper. System parameters used in simulations, formulation of the actuators and the method of modelling are described in detail in Banthia et al. [20]. ...
The manipulability of a robotic arm may be defined based on ease of motion in different directions or ease of applying force/torque. In this study, we use manipulability measures to investigate how the kinematics of robots can be employed to calculate the optimal power required to drive the actuation systems of their arms. We hypothesize that the isotropy measure is related to the power consumption of the robotic arm. In addition to theoretical aspects, we consider practical applications that can minimize power consumption in robotic systems. Since the method is simple to implement and has no assumption on the robot’s work environment or dependence on information on the main power supply, manipulability measures can be used as a tool to predict the power consumption of robotic manipulators.
... There are many studies which focus on remote roboot systems with force feedback [9] [10]. In [9], the authors asssess the Quality of Experience (QoE) [11] about the operability of a haptic interface device for work in which a user operates an industrial robot with a force sensor at a remote location by using the haptic interface device while watching video. ...
... As a result, the control is effective for the remote robot system with force feedback. In [10], Banthia et al. make a prototype telerobotic system for live transmission line maintenance. In the system, a user can operate a haptic interface device at a local terminal to control a remote robot arm. ...
Robotic operation is an effective way to upgrade the live-line maintenance safety, efficiency, and quality. This paper proposes an impedance control-based teleoperation system to improve the adaptability of live-line maintenance robot in outdoors environment. The key technology of this system is utilizing three virtual spring-damper systems to model the elastic connection between the end-effector of slave manipulator and the environment, between the end-effector of slave manipulator and the counterpart of master haptic device, and between the end-effector of master haptic device and its base, respectively. Experiment results show that, under control of our proposed teleoperation system, the slave manipulator is able to track the motion of master haptic device and the robot is able to complete a set of complex action to peel the coat off the cable.
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