A Teleoperation Framework of Hot Line Work Robot

Abstract

A teleoperation framework is proposed for hot line work robot (HL WR). Firstly, the design concept of the robotic system and the teleoperation framework are presented. Then, the related teleoperation technologies, including robotic arm trajectory control and impedance force control, manually operation methods with joystick/haptic device/3D space mouse, visual based automatic operation method and cooperative control method of dual armed manipulator are detailed introduced. At last, a preliminary teleoperation testbed in lab is setup and the manually operation test is conducted to verify some of the teleoperation technologies. Good performance is achieved and lays the foundation for further development of the HLWR system.