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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 Journal/Magazine › Journal article › peer-review

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Vision-based assisted tele-operation of a dual-arm hydraulically actuated robot for pipe cutting and grasping in nuclear environments. / Bandala Sanchez, Manuel; West, Craig; Monk, Stephen et al.
In: Robotics, Vol. 8, No. 2, 42, 04.06.2019.

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

Harvard

Bandala Sanchez, M, West, C, Monk, S, Montazeri, A & Taylor, CJ 2019, 'Vision-based assisted tele-operation of a dual-arm hydraulically actuated robot for pipe cutting and grasping in nuclear environments', Robotics, vol. 8, no. 2, 42. https://doi.org/10.3390/robotics8020042

APA

Bandala Sanchez, M., West, C., Monk, S., Montazeri, A., & Taylor, C. J. (2019). Vision-based assisted tele-operation of a dual-arm hydraulically actuated robot for pipe cutting and grasping in nuclear environments. Robotics, 8(2), Article 42. https://doi.org/10.3390/robotics8020042

Vancouver

Bandala Sanchez M, West C, Monk S, Montazeri A, Taylor CJ. Vision-based assisted tele-operation of a dual-arm hydraulically actuated robot for pipe cutting and grasping in nuclear environments. Robotics. 2019 Jun 4;8(2):42. doi: 10.3390/robotics8020042

Author

Bandala Sanchez, Manuel ; West, Craig ; Monk, Stephen et al. / Vision-based assisted tele-operation of a dual-arm hydraulically actuated robot for pipe cutting and grasping in nuclear environments. In: Robotics. 2019 ; Vol. 8, No. 2.

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 = jun,
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 -