HapticV1, Main, Exploration, bibRecord, 002753

Human-robot-environment interaction interface for robotic grit-blasting of complex steel bridges

Identifieur interne : 002753 ( Main/Exploration ); précédent : 002752; suivant : 002754

Human-robot-environment interaction interface for robotic grit-blasting of complex steel bridges

Auteurs : P. Chotiprayanakul [Thaïlande] ; D. K. Liu [Australie] ; G. Dissanayake [Australie]

Source :

Automation in construction [ 0926-5805 ] ; 2012.

RBID : Pascal:13-0063523

Descripteurs français

Pascal (Inist)
- Pont acier, Maintenance, Robot, Grenaillage, Description système, Système homme machine, Interaction, Modélisation, Cinématique, Implémentation, Essai en place.

English descriptors

KwdEn :
- Implementation, In situ test, Interaction, Kinematics, Maintenance, Man machine system, Modeling, Robot, Shot peening, Steel bridge, System description.

Abstract

This paper presents a human-robot-environment interaction (HREI) interface using haptic feedback for a grit-blasting robot operating in close proximity to a complex steel bridge structure. The productivity requirements dictate the need for efficient algorithms for mapping, exploration, and collision-free motion planning. While a large portion of the grit-blasting operation can be automated, a tele-operation is essential to deal with some difficult to access sections such as edges, complex corners, and surfaces which can only be approached through hole. A 3-dimensional virtual force field (3D-VF²) method is developed for capturing the relationship between the robot and its environment. A novel haptic force generation method and a workspace mapping algorithm allow intuitive interaction between the operator and the robot through haptic feedback. The strategies presented are verified in extensive simulations and experiments conducted on a steel bridge with a prototype grit-blasting robot.

Affiliations:

Australie, Thaïlande

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 000227
to stream PascalFrancis, to step Curation: 001072
to stream PascalFrancis, to step Checkpoint: 000240
to stream Main, to step Merge: 002781
to stream Main, to step Curation: 002753

Le document en format XML

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<term>Man machine system</term>
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<term>Système homme machine</term>
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<front><div type="abstract" xml:lang="en">This paper presents a human-robot-environment interaction (HREI) interface using haptic feedback for a grit-blasting robot operating in close proximity to a complex steel bridge structure. The productivity requirements dictate the need for efficient algorithms for mapping, exploration, and collision-free motion planning. While a large portion of the grit-blasting operation can be automated, a tele-operation is essential to deal with some difficult to access sections such as edges, complex corners, and surfaces which can only be approached through hole. A 3-dimensional virtual force field (3D-VF<sup>2</sup>
) method is developed for capturing the relationship between the robot and its environment. A novel haptic force generation method and a workspace mapping algorithm allow intuitive interaction between the operator and the robot through haptic feedback. The strategies presented are verified in extensive simulations and experiments conducted on a steel bridge with a prototype grit-blasting robot.</div>
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Human-robot-environment interaction interface for robotic grit-blasting of complex steel bridges

Human-robot-environment interaction interface for robotic grit-blasting of complex steel bridges

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri