Home > Research > Publications & Outputs > Vision-based assisted tele-operation of a dual-...

Links

Text available via DOI:

View graph of relations

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

Standard

Harvard

APA

Vancouver

Author

Bibtex

@article{f94174c0b75842f7b7a15152fb406d8d,
title = "Vision-based assisted tele-operation of a dual-arm hydraulically actuated robot for pipe cutting and grasping in nuclear environments",
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.",
keywords = "hydraulic manipulators, assisted tele-operation, nuclear decommissioning",
author = "{Bandala Sanchez}, Manuel and Craig West and Stephen Monk and Allahyar Montazeri and Taylor, {C. James}",
year = "2019",
month = "6",
day = "4",
doi = "10.3390/robotics8020042",
language = "English",
volume = "8",
journal = "Robotics",
issn = "2218-6581",
publisher = "MDPI - Open Access Publishing",
number = "2",

}

RIS

TY - JOUR

T1 - Vision-based assisted tele-operation of a dual-arm hydraulically actuated robot for pipe cutting and grasping in nuclear environments

AU - Bandala Sanchez, Manuel

AU - West, Craig

AU - Monk, Stephen

AU - Montazeri, Allahyar

AU - Taylor, C. James

PY - 2019/6/4

Y1 - 2019/6/4

N2 - 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.

AB - 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.

KW - hydraulic manipulators

KW - assisted tele-operation

KW - nuclear decommissioning

U2 - 10.3390/robotics8020042

DO - 10.3390/robotics8020042

M3 - Journal article

VL - 8

JO - Robotics

JF - Robotics

SN - 2218-6581

IS - 2

M1 - 42

ER -