MATEC Web of Conferences
Volume 42, 20162015 The 3rd International Conference on Control, Mechatronics and Automation (ICCMA 2015)
|Number of page(s)||4|
|Section||Robot design and development|
|Published online||17 February 2016|
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
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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