NDLI: Reaction force based grasping position estimation of multi-teleoperated robots for pipe installation in offshore plants

Content Provider	IEEE Xplore Digital Library
Author	Sunghoon Eom Seungyeol Lee Deajin Kim Dongbin Shin Jeon Il Moon
Copyright Year	2014
Description	Author affiliation: Robotic Res. Div., Daegu Gyeongbuk Inst. of Sci. & Technol., Daegu, South Korea (Sunghoon Eom; Seungyeol Lee; Deajin Kim; Dongbin Shin; Jeon Il Moon)
Abstract	When two robots grasp a long object such as a pipe, each robot needs information on the position of the other robot's grippers to create a path while handling the pipe. Thus, our study discusses methods of estimating the other robot's position and angle during a grasping operation by one robot, which is a fundamental pipe-handling technique using for tele-operated robots. For verification of handling a pipe by robot grippers, our experiment is designed with three cases: the grippers of the two robots are separated by the same distance in opposite directions; one robot's grippers are separated, whereas the other robot's grippers are fixed; and the grippers of the two robots grasp a pipe that is not laid parallel to the ground. The three cases were tested by using two practical robot grippers and a pipe. Using force/torque sensors installed on the robot grippers, the reaction forces of each robot's grippers were measured at the location where the pipe was grasped. By comparing and analyzing the measured reaction forces, the estimated relative position and angle between the grippers were described for each case.
Starting Page	1620
Ending Page	1622
File Size	520582
Page Count	3
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6987833
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	Torque Angle Force Position Reaction force Robot sensing systems Multi-teleoperated robots Pipe installation Offshore Plants Torque measurement
Content Type	Text
Resource Type	Article

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