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- Publisher Website: 10.1109/ROBIO.2018.8665192
- Scopus: eid_2-s2.0-85064115142
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Conference Paper: A Shared Control Scheme for Teleoperation of Hot Line Work Robots
Title | A Shared Control Scheme for Teleoperation of Hot Line Work Robots |
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Authors | |
Issue Date | 2018 |
Publisher | IEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000856 |
Citation | 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 12-15 December 2018, p. 1947-1952 How to Cite? |
Abstract | As a result of highly information oriented society, uninterruptible power supply has become very important. Hot-line work robots (HLWRs) which provide comfortable and safe work environments have been introduced to perform outage-free maintenance of distribution lines. Regardless of the layout of the robotic system, the manipulator operation and control greatly affect the performance of the HLWR. In addition to the manual operations, the scope of autonomous work of the HLWR has been expanded to reduce the labor requirements. In order to fuse the two operation functions naturally and efficiently, a control sharing scheme based on event-based planning and control theory is proposed for the hot line work robots in this paper. With the proposed shared control method, the human operator can modify the autonomous motion whenever he/she wants. It integrates human intelligence with robot intelligence and enable the HLWR to perform tasks which cannot be done by either manual operations or autonomous operations alone. The control scheme is implemented and tested on an ABB IRB 1200 robotic arm system with a fixed base and shows a good performance in obstacle avoidance. |
Persistent Identifier | http://hdl.handle.net/10722/282988 |
ISBN |
DC Field | Value | Language |
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dc.contributor.author | Chen, J | - |
dc.contributor.author | Bi, S | - |
dc.contributor.author | Xi, N | - |
dc.date.accessioned | 2020-06-05T06:23:48Z | - |
dc.date.available | 2020-06-05T06:23:48Z | - |
dc.date.issued | 2018 | - |
dc.identifier.citation | 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 12-15 December 2018, p. 1947-1952 | - |
dc.identifier.isbn | 978-1-7281-0378-5 | - |
dc.identifier.uri | http://hdl.handle.net/10722/282988 | - |
dc.description.abstract | As a result of highly information oriented society, uninterruptible power supply has become very important. Hot-line work robots (HLWRs) which provide comfortable and safe work environments have been introduced to perform outage-free maintenance of distribution lines. Regardless of the layout of the robotic system, the manipulator operation and control greatly affect the performance of the HLWR. In addition to the manual operations, the scope of autonomous work of the HLWR has been expanded to reduce the labor requirements. In order to fuse the two operation functions naturally and efficiently, a control sharing scheme based on event-based planning and control theory is proposed for the hot line work robots in this paper. With the proposed shared control method, the human operator can modify the autonomous motion whenever he/she wants. It integrates human intelligence with robot intelligence and enable the HLWR to perform tasks which cannot be done by either manual operations or autonomous operations alone. The control scheme is implemented and tested on an ABB IRB 1200 robotic arm system with a fixed base and shows a good performance in obstacle avoidance. | - |
dc.language | eng | - |
dc.publisher | IEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000856 | - |
dc.relation.ispartof | IEEE International Conference on Robotics and Biomimetics (ROBIO) Proceedings | - |
dc.rights | IEEE International Conference on Robotics and Biomimetics (ROBIO) Proceedings. Copyright © IEEE. | - |
dc.rights | ©2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
dc.title | A Shared Control Scheme for Teleoperation of Hot Line Work Robots | - |
dc.type | Conference_Paper | - |
dc.identifier.email | Xi, N: xining@hku.hk | - |
dc.identifier.authority | Xi, N=rp02044 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ROBIO.2018.8665192 | - |
dc.identifier.scopus | eid_2-s2.0-85064115142 | - |
dc.identifier.hkuros | 310098 | - |
dc.identifier.spage | 1947 | - |
dc.identifier.epage | 1952 | - |
dc.publisher.place | United States | - |