Visual Servoing of a New Designed Inspection Robot for Autonomous Transmission Line Grasping
This paper presents a new visual servoing using two lines features and this method is adopted for a novel dual-arm power transmission line inspection robot to grasp transmission line autonomously. The new designed inspection robot has 5 DOFs ofeach arm, a
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Abstract This paper presents a new visual servoing using two lines features and this method is adopted for a novel dual-arm power transmission line inspection robot to grasp transmission line autonomously. The new designed inspection robot has 5 DOFs ofeach arm, and the arms for the wheel-arm platform will cross obstacle on the transmission lines alternately. With a new mechanism, the robot can actively control the position of its center of mass, thus enhancing its stability and reducing the load on motors when changing its configuration to overcome obstacles. Then an adaptive visual servoing using line features of two power transmission lines for the robot in an uncalibrated eye-in-hand setup is developed, guaranteeing the off-line arm can grasp the line automatically after overcoming obstacles. A new Lyapunov method is used to prove the asymptotic convergence of the errors to zero. The paper ends with the presentation of several simulation results.
Keywords Inspection robot Power transmission line inspection line grasping Visual servoing
Autonomous
T. He H. Wang (&) W. Chen W. Wang Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China e-mail: [email protected] T. He e-mail: [email protected] W. Chen e-mail: [email protected] W. Wang e-mail: [email protected] T. He H. Wang W. Chen W. Wang Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, China © Zhejiang University Press and Springer Science+Business Media Singapore 2017 C. Yang et al. (eds.), Wearable Sensors and Robots, Lecture Notes in Electrical Engineering 399, DOI 10.1007/978-981-10-2404-7_42
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1 Introduction The power transmission lines are one of the most important strategic assets, transmitting electric energy to the urban centers and industries. If there is any problem in the transmission line networks, millions of people will be affected and considerable economic losses will be caused to the nation. In order to avoid this, it is vital important to maintain the safety and stability of the power transmission lines. The inspection of power transmission lines is usually difficult and dangerous, especially in mountain areas, because the lines are always overhead with dozens of meters above the ground. As a result, robotic systems are introduced in this filed and the interest has increased remarkably over the past few years. In the recent 20 years, several research teams around the world have created some power transmission line inspection robots. LineScout proposed by Serge et al. (Montambault and Pouliot 2006; Pouliot and Montambault 2009) in Hydro-Québec research institute has completed actual field testing on live lines, but it cannot inspect lines with large turning angle and it is tele-operated only. Paulo et al. (Tamura and Kimura 2010; Fonseca et al. 2012) proposed a simple and dexterous robot named Expliner, but it is also tele-operated and unstable when overcoming obstacles. Wang and Wu et al. (Wang et al. 201
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