Vision-based assisted tele-operation of a dual-arm hydraulically actuated robot for pipe cutting and grasping in nuclear environments

Bandala Sanchez, Manuel and West, Craig and Monk, Stephen and Montazeri, Allahyar and Taylor, C. James (2019) Vision-based assisted tele-operation of a dual-arm hydraulically actuated robot for pipe cutting and grasping in nuclear environments. Robotics, 8 (2): 42. ISSN 2218-6581

Abstract

This article investigates visual servoing for a hydraulically actuated dual-arm robot, in which the user selects the object of interest from an on-screen image, whilst the computer control system implements via feedback control the required position and orientation of the manipulators. To improve on the current joystick direct tele-operation commonly used as standard in the nuclear industry, which is slow and requires extensive operator training, the proposed assisted tele-operation makes use of a single camera mounted on the robot. Focusing on pipe cutting as an example, the new system ensures that one manipulator automatically grasps the user-selected pipe, and appropriately positions the second for a cutting operation. Initial laboratory testing (using a plastic pipe) shows the efficacy of the approach for positioning the manipulators, and suggests that for both experienced and inexperienced users, the task is completed significantly faster than via tele-operation.