Automatic Grasping of a Pole Climbing Robot using a Visual Camera with Laser Line Beams
Korea Atomic Energy Research Institute, Republic of Korea
A pole climbing robot was developed to inspect or repair pipe structures. The robot has a 5 degree-of-freedom manipulator and two grippers, and moves along cylindrical pipes, overcoming obstacles such as flanges and valves like an inch-worm. The robot works in places very high from the ground, and thus the robot should be able to grasp the next pipes semi-autonomously as the operator cannot see the next pipe for the robot to grasp. This paper proposes a very practical vision-based scheme with line lasers for grasping a cylindrical pipe autonomously. The scheme can be used practically for a pole climbing robot in real time.
© Owned by the authors, published by EDP Sciences, 2016
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