Human-robot-environment interaction interface for robotic grit-blasting of complex steel bridges

Chotiprayanakul, P; Liu, DK; Dissanayake, G

Human-robot-environment interaction interface for robotic grit-blasting of complex steel bridges

Chotiprayanakul, P Liu, DK

Dissanayake, G

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Publication Type:: Journal Article
Citation:: Automation in Construction, 2012, 27 pp. 11 - 23
Issue Date:: 2012-11-01

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Field	Value	Language
dc.contributor.author	Chotiprayanakul, P	en_US
dc.contributor.author	Liu, DK https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2012-11-01	en_US
dc.identifier.citation	Automation in Construction, 2012, 27 pp. 11 - 23	en_US
dc.identifier.issn	0926-5805	en_US
dc.identifier.uri	http://hdl.handle.net/10453/30696
dc.description.abstract	This paper presents a human-robot-environment interaction (HREI) interface using haptic feedback for a grit-blasting robot operating in close proximity to a complex steel bridge structure. The productivity requirements dictate the need for efficient algorithms for mapping, exploration, and collision-free motion planning. While a large portion of the grit-blasting operation can be automated, a tele-operation is essential to deal with some difficult to access sections such as edges, complex corners, and surfaces which can only be approached through hole. A 3-dimensional virtual force field (3D-VF 2) method is developed for capturing the relationship between the robot and its environment. A novel haptic force generation method and a workspace mapping algorithm allow intuitive interaction between the operator and the robot through haptic feedback. The strategies presented are verified in extensive simulations and experiments conducted on a steel bridge with a prototype grit-blasting robot. © 2012 Elsevier B.V.	en_US
dc.relation.ispartof	Automation in Construction	en_US
dc.relation.isbasedon	10.1016/j.autcon.2012.04.014	en_US
dc.subject.classification	Building & Construction	en_US
dc.title	Human-robot-environment interaction interface for robotic grit-blasting of complex steel bridges	en_US
dc.type	Journal Article
utslib.citation.volume	27	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	09 Engineering	en_US
utslib.for	12 Built Environment and Design	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	27	en_US

Abstract:

This paper presents a human-robot-environment interaction (HREI) interface using haptic feedback for a grit-blasting robot operating in close proximity to a complex steel bridge structure. The productivity requirements dictate the need for efficient algorithms for mapping, exploration, and collision-free motion planning. While a large portion of the grit-blasting operation can be automated, a tele-operation is essential to deal with some difficult to access sections such as edges, complex corners, and surfaces which can only be approached through hole. A 3-dimensional virtual force field (3D-VF 2) method is developed for capturing the relationship between the robot and its environment. A novel haptic force generation method and a workspace mapping algorithm allow intuitive interaction between the operator and the robot through haptic feedback. The strategies presented are verified in extensive simulations and experiments conducted on a steel bridge with a prototype grit-blasting robot. © 2012 Elsevier B.V.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/30696