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Implementation and Evaluation of a Semi-Autonomous Hydraulic Dual Manipulator for Cutting Pipework in Radiologically Active Environments

Research output: Contribution to Journal/Magazine › Journal article › peer-review

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Implementation and Evaluation of a Semi-Autonomous Hydraulic Dual Manipulator for Cutting Pipework in Radiologically Active Environments. / Monk, Stephen; Grievson, Alex; Bandala Sanchez, Manuel et al.
In: Robotics, Vol. 10, No. 2, 62, 27.04.2021.

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Harvard

Monk, S, Grievson, A, Bandala Sanchez, M, West, C, Montazeri, A & Taylor, CJ 2021, 'Implementation and Evaluation of a Semi-Autonomous Hydraulic Dual Manipulator for Cutting Pipework in Radiologically Active Environments', Robotics, vol. 10, no. 2, 62. https://doi.org/10.3390/robotics10020062

APA

Monk, S., Grievson, A., Bandala Sanchez, M., West, C., Montazeri, A., & Taylor, C. J. (2021). Implementation and Evaluation of a Semi-Autonomous Hydraulic Dual Manipulator for Cutting Pipework in Radiologically Active Environments. Robotics, 10(2), Article 62. https://doi.org/10.3390/robotics10020062

Vancouver

Monk S, Grievson A, Bandala Sanchez M, West C, Montazeri A, Taylor CJ. Implementation and Evaluation of a Semi-Autonomous Hydraulic Dual Manipulator for Cutting Pipework in Radiologically Active Environments. Robotics. 2021 Apr 27;10(2):62. doi: 10.3390/robotics10020062

Author

Monk, Stephen ; Grievson, Alex ; Bandala Sanchez, Manuel et al. / Implementation and Evaluation of a Semi-Autonomous Hydraulic Dual Manipulator for Cutting Pipework in Radiologically Active Environments. In: Robotics. 2021 ; Vol. 10, No. 2.

Bibtex

@article{54fab660b4e540a599d5861c2e1b5f89,
title = "Implementation and Evaluation of a Semi-Autonomous Hydraulic Dual Manipulator for Cutting Pipework in Radiologically Active Environments",
abstract = "We describe the implementation of a bespoke two arm hydraulically actuated robotic platform which is used to semi-autonomously cut approximately 50 mm diameter pipes of three different materials: cardboard, ABS plastic and aluminium. The system is designed to be utilised within radiologically active environments where human access is limited due to dose limits and thus remote operation is greatly beneficial. The remotely located operator selects the object from an image via a bespoke algorithm featuring a COTS 3 D vision system, along with the desired positions for gripping with one manipulator, and cutting with the other. A pseudo-Jacobian inverse kinematic technique and a programmable automation controller are used to achieve the appropriate joint positions within the dual arm robotic platform. In this article, we present the latest developments to the system and the lessons learnt from the new cutting experiments with a reciprocating saw. A comparison to tele-operated control and manual cutting is also made, with this technique shown to be slower than manual cutting, but faster than pure tele-operational control, where the requirements for highly trained users and operator fatigue are further deleterious factors.",
keywords = "kinect, pipe cutting, hydraulic manipulation, MATLAB, Labview, automation",
author = "Stephen Monk and Alex Grievson and {Bandala Sanchez}, Manuel and Craig West and Allahyar Montazeri and Taylor, {C. James}",
year = "2021",
month = apr,
day = "27",
doi = "10.3390/robotics10020062",
language = "English",
volume = "10",
journal = "Robotics",
issn = "2218-6581",
publisher = "MDPI - Open Access Publishing",
number = "2",

}

RIS

TY - JOUR

T1 - Implementation and Evaluation of a Semi-Autonomous Hydraulic Dual Manipulator for Cutting Pipework in Radiologically Active Environments

AU - Monk, Stephen

AU - Grievson, Alex

AU - Bandala Sanchez, Manuel

AU - West, Craig

AU - Montazeri, Allahyar

AU - Taylor, C. James

PY - 2021/4/27

Y1 - 2021/4/27

N2 - We describe the implementation of a bespoke two arm hydraulically actuated robotic platform which is used to semi-autonomously cut approximately 50 mm diameter pipes of three different materials: cardboard, ABS plastic and aluminium. The system is designed to be utilised within radiologically active environments where human access is limited due to dose limits and thus remote operation is greatly beneficial. The remotely located operator selects the object from an image via a bespoke algorithm featuring a COTS 3 D vision system, along with the desired positions for gripping with one manipulator, and cutting with the other. A pseudo-Jacobian inverse kinematic technique and a programmable automation controller are used to achieve the appropriate joint positions within the dual arm robotic platform. In this article, we present the latest developments to the system and the lessons learnt from the new cutting experiments with a reciprocating saw. A comparison to tele-operated control and manual cutting is also made, with this technique shown to be slower than manual cutting, but faster than pure tele-operational control, where the requirements for highly trained users and operator fatigue are further deleterious factors.

AB - We describe the implementation of a bespoke two arm hydraulically actuated robotic platform which is used to semi-autonomously cut approximately 50 mm diameter pipes of three different materials: cardboard, ABS plastic and aluminium. The system is designed to be utilised within radiologically active environments where human access is limited due to dose limits and thus remote operation is greatly beneficial. The remotely located operator selects the object from an image via a bespoke algorithm featuring a COTS 3 D vision system, along with the desired positions for gripping with one manipulator, and cutting with the other. A pseudo-Jacobian inverse kinematic technique and a programmable automation controller are used to achieve the appropriate joint positions within the dual arm robotic platform. In this article, we present the latest developments to the system and the lessons learnt from the new cutting experiments with a reciprocating saw. A comparison to tele-operated control and manual cutting is also made, with this technique shown to be slower than manual cutting, but faster than pure tele-operational control, where the requirements for highly trained users and operator fatigue are further deleterious factors.

KW - kinect

KW - pipe cutting

KW - hydraulic manipulation

KW - MATLAB

KW - Labview

KW - automation

U2 - 10.3390/robotics10020062

DO - 10.3390/robotics10020062

M3 - Journal article

VL - 10

JO - Robotics

JF - Robotics

SN - 2218-6581

IS - 2

M1 - 62

ER -