Volume 29 Issue 5
Sep.  2007
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WANG Lu-dan, WANG Hong-guang, FANG Li-jin, ZHAO Ming-yang. Visual-Servo-Based Line-Grasping Control for Power Transmission Line Inspection Robot[J]. ROBOT, 2007, 29(5): 451-455.
Citation: WANG Lu-dan, WANG Hong-guang, FANG Li-jin, ZHAO Ming-yang. Visual-Servo-Based Line-Grasping Control for Power Transmission Line Inspection Robot[J]. ROBOT, 2007, 29(5): 451-455.
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Visual-Servo-Based Line-Grasping Control for Power Transmission Line Inspection Robot

  • 1.

    Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China

  • 2.

    Graduate School of the Chinese Academy of Sciences, Beijing 100049, China

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  • Received Date: September 17, 2006
  • Published Date: September 14, 2007
    Graphical Abstract
    • Abstract
  • In the process of obstacle navigation,the inspection robot arm needs to grasp the power line exactly.According to the geometrical characteristics of the transmission line and the theory of perspective projection,a stereo vision method based on single camera is presented to detect the orientation and position vector of the power transmission line.Based on the presented localization algorithm and visual servoing theory,a servo model for line grasping is built up.Visual servo line-grasping experiments have been made with our self-developed inspection robot,and the results verify the validity of the proposed method.
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    • References (10)
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