The Auto-docking System Design for the Fuel Loading Robot Used in Hazardous Environment

Author

Dun, Xiangming ; Yuan, Jianjun ; Chen, Liang

Author_Institution

Robot. Res. Inst., Shanghai JiaoTong Univ., Shanghai

fYear

2006

fDate

17-20 Dec. 2006

Firstpage

485

Lastpage

490

Abstract

The auto-docking system design for the fuel loading robot used in hazardous environment is presented. The mechanical structure and the sensing algorithm of this system are introduced in details. The sensor system adopts two accurate CCDs as the automatic visual positioning device to measure the position and the posture between the manipulator of the robot and the objective in case of the good visual condition, besides, as a compensation for the shortage of the vision system, the tactile sensor system which likes the probe of an insect is also employed. The precision of proposed vision and tactile sensory system is analyzed. The result of experiment and the simulation indicate that this auto-docking system features rapid reaction speed and high measurement precision, which can be used to implement the auto-docking task for the fuel loading robot in hazard environment.

Keywords

compensation; hazards; manipulators; position control; robot vision; service robots; tactile sensors; auto-docking system design; automatic visual positioning; compensation; fuel loading robot; hazardous environment; manipulator; mechanical structure; sensing algorithm; tactile sensor system; vision system; Fuels; Machine vision; Manipulators; Position measurement; Probes; Robot sensing systems; Robot vision systems; Robotics and automation; Sensor systems; Tactile sensors; Auto-docking; Fuel loading; Tactile; Vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on

Conference_Location

Kunming

Print_ISBN

1-4244-0570-X

Electronic_ISBN

1-4244-0571-8

Type

conf

DOI

10.1109/ROBIO.2006.340240

Filename

4141914