| Issue |
MATEC Web of Conferences
Volume 42, 2016
2015 The 3rd International Conference on Control, Mechatronics and Automation (ICCMA 2015)
|
|
|---|---|---|
| Article Number | 03005 | |
| Number of page(s) | 4 | |
| Section | Robot design and development | |
| DOI | https://doi.org/10.1051/matecconf/20164203005 | |
| 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.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.