Journal
AUTOMATION IN CONSTRUCTION
Volume 27, Issue -, Pages 11-23Publisher
ELSEVIER
DOI: 10.1016/j.autcon.2012.04.014
Keywords
Steel bridge maintenance; Grit-blasting; Human-robot-environment interaction; Haptic interface
Funding
- Australian Research Council (ARC) Linkage Grant [ARC-LP0776312]
- ARC Centre of Excellence for Autonomous Systems (CAS)
- ARC
- New South Wales State Government
- Roads and Traffic Authority (RTA)
- University of Technology, Sydney
- Thai Government Scholarship
Ask authors/readers for more resources
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. (C) 2012 Elsevier B.V. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available