Development of the fully-automatic live-line maintenance robot-Phase III

Author

Takaoka, Keiichi ; Yokoyama, Kazuhiko ; Wakisak, H. Itoshi ; Yano, Kyouji ; Higashijima, K. ; Murakami, Shinji

Author_Institution

Res. Lab., Yaskawa Electr. Corp., Kitakyushu, Japan

fYear

2001

fDate

2001

Firstpage

423

Lastpage

428

Abstract

Live-line maintenance of high-voltage overhead electrical lines is extremely difficult but of utmost importance particularly for the rapidly changing society caused by the development of information technology. The robot is indispensable for this job with high safety and efficiency. The paper offers first the background of the system development of Phase I and Phase II that are already put into operation for executing standard jobs automatically and non-standard jobs manually. It continues to describe the third generation robot system (fully automatic live-line maintenance robot-Phase III) that is at the research and development stage. In particular, Phase III explains the concept that improves robot intelligence using vision sensor and compliance control

Keywords

compliance control; hierarchical systems; high-voltage techniques; image sensors; intelligent control; maintenance engineering; manipulators; path planning; power overhead lines; Phase III; compliance control; fully-automatic live-line maintenance robot; high-voltage overhead electrical lines; robot intelligence; vision sensor; Automatic control; Information technology; Intelligent robots; Intelligent sensors; Occupational safety; Research and development; Robot sensing systems; Robot vision systems; Robotics and automation; Standards development;

fLanguage

English

Publisher

ieee

Conference_Titel

Assembly and Task Planning, 2001, Proceedings of the IEEE International Symposium on

Conference_Location

Fukuoka

Print_ISBN

0-7803-7004-X

Type

conf

DOI

10.1109/ISATP.2001.929071

Filename

929071