Development of Tele-Robotic Interface System for the Hot-Line Maintenance
| Authors: | Kim Chang-Hyun, Korea Advanced Institute of Science and Technology, Korea, Republic of
Kim Min-Soeng, Korea Advanced Institute of Science and Technology, Korea, Republic of
Lee Ju-Jang, Korea Advanced Institute of Science and Technology, Korea, Republic of |
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| Topic: | 5.4 Large Scale Complex Systems |
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| Session: | Large Scale Complex Systems |
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| Keywords: | Telerobotics, Virtual reality, Redundant manipulators, Human supervisory control, Maintanance engineering |
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Abstract
This paper describes the development of tele-robotic interface for the hot-line maintenance robot system. The control procedure for each part of the robotic system and motion planning of the manipulator is designed. Also, a virtual simulator, which includes the virtual hot-line maintenance robot system and the environment, is developed in the 3D environment using CAD data. It is assumed that the control operation is done in the remote cabin and the overall work process is observed using the main-camera with 2 DOFs. For the input device, two joysticks, one pedal, two data gloves, and a HeadMounted Display (HMD) with tracker sensor were used. The interface is developed for each control mode. Designed human-interface system is operated using high-level control commands which are intuitive and easy to understand without any special training.
