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Conference Paper: Event-Based Planning and Control for Teleoperation of Hot Line Work Robot

TitleEvent-Based Planning and Control for Teleoperation of Hot Line Work Robot
Authors
Wang, YChen, JMai, XBi, SCheng, YXi, N
Issue Date2018
PublisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1800486
Citation
2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Tianjin, China, 19-23 July 2018, p. 339-343 How to Cite?
DOI: http://dx.doi.org/10.1109/CYBER.2018.8688092
AbstractManual-automatic fusion control is an effect way for a hot line work robot (HLWR)to cope with some unexpected events during its working. In this paper, an event-based planning and control method is introduced to generate a fusion control strategy for HLWR. Firstly, a HLWR prototype consists of a joystick and a robot arm is established. Then by parameterizing the dynamics model of a HLWR with a new position-related variable, an event-based planning and control strategy for the HLWR is proposed and a manual and automatic fusion control is realized. Finally, experimental result shows the fusion strategy is available and efficient for the HLWR to avoid an unexpected obstacle in the workspace and keep tracking a preplanned trajectory.
Persistent Identifierhttp://hdl.handle.net/10722/282868
ISBN
978-1-5386-7058-3

 

DC FieldValueLanguage
dc.contributor.authorWang, Y-
dc.contributor.authorChen, J-
dc.contributor.authorMai, X-
dc.contributor.authorBi, S-
dc.contributor.authorCheng, Y-
dc.contributor.authorXi, N-
dc.date.accessioned2020-06-05T06:22:28Z-
dc.date.available2020-06-05T06:22:28Z-
dc.date.issued2018-
dc.identifier.citation2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Tianjin, China, 19-23 July 2018, p. 339-343-
dc.identifier.isbn978-1-5386-7058-3-
dc.identifier.urihttp://hdl.handle.net/10722/282868-
dc.description.abstractManual-automatic fusion control is an effect way for a hot line work robot (HLWR)to cope with some unexpected events during its working. In this paper, an event-based planning and control method is introduced to generate a fusion control strategy for HLWR. Firstly, a HLWR prototype consists of a joystick and a robot arm is established. Then by parameterizing the dynamics model of a HLWR with a new position-related variable, an event-based planning and control strategy for the HLWR is proposed and a manual and automatic fusion control is realized. Finally, experimental result shows the fusion strategy is available and efficient for the HLWR to avoid an unexpected obstacle in the workspace and keep tracking a preplanned trajectory.-
dc.languageeng-
dc.publisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1800486-
dc.relation.ispartofIEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)-
dc.rightsIEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Copyright © IEEE.-
dc.rights©2019 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.titleEvent-Based Planning and Control for Teleoperation of Hot Line Work Robot-
dc.typeConference_Paper-
dc.identifier.emailBi, S: shengbi@hku.hk-
dc.identifier.emailXi, N: xining@hku.hk-
dc.identifier.authorityXi, N=rp02044-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/CYBER.2018.8688092-
dc.identifier.scopuseid_2-s2.0-85064967397-
dc.identifier.hkuros310103-
dc.identifier.spage339-
dc.identifier.epage343-
dc.publisher.placeUnited States-

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