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Vision-based assisted tele-operation of a dual-arm hydraulically actuated robot for pipe cutting and grasping in nuclear environments

Research output: Contribution to journalJournal article

Published
Article number42
<mark>Journal publication date</mark>4/06/2019
<mark>Journal</mark>Robotics
Issue number2
Volume8
Number of pages24
Publication statusPublished
Original languageEnglish

Abstract

This article investigates visual servoing for a hydraulically actuated dual-arm robot, in which the user selects the object of interest from an on-screen image, whilst the computer control system implements via feedback control the required position and orientation of the manipulators. To improve on the current joystick direct tele-operation commonly used as standard in the nuclear industry, which is slow and requires extensive operator training, the proposed assisted tele-operation makes use of a single camera mounted on the robot. Focusing on pipe cutting as an example, the new system ensures that one manipulator automatically grasps the user-selected pipe, and appropriately positions the second for a cutting operation. Initial laboratory testing (using a plastic pipe) shows the efficacy of the approach for positioning the manipulators, and suggests that for both experienced and inexperienced users, the task is completed significantly faster than via tele-operation.