Live-line maintenance training using robotics technology

This paper describes performance evaluation of a teleoperated platform which allows operators to remotely perform live-line maintenance. Effectiveness of the system is validated when several maintenance tasks are performed by novice (students) and experienced (linemen) operators. The system comprises a PHANToM Desktop haptic device controlling a Kodiak hydraulic manipulator. Validations are performed under two modes, when the operators are asked to guide the slave manipulator by moving the haptic device implement. In the first mode, the force capability of the haptic device is not utilized. In the second mode, the haptic device is used to create a forbidden region virtual fixture that helps the operator stay on the desired path. In the second mode, the task completion time reduces as compared to the mode in which no force is generated by the haptic. The concept of virtual fixture also results in a smooth motion at the slave manipulator end-effector, and reduces the mental load on both expert and novice operators. Furthermore, the system familiarizes the participants with new techniques used in live-line maintenance in a controlled experimental setting.