Title :
Experiments on power distribution maintenance robot system-Select parameter to insert a bolt on power distribution maintenance robot system
Author :
Kataoka, Takahiro ; Aoyama, Kazuki ; Maekawa, Naoki ; Yamamoto, Yusuke ; Naito, Masayuki ; Tatsuno, Kyoichi
Author_Institution :
Dept. of Electr. & Electron. Eng., Meijo Univ., Nagoya, Japan
Abstract :
This paper describes how to insert a bolt in power distribution maintenance tasks. The present system has about 1 cm margin error between CG (computer graphic) and real environment. The arm holding the bolt approaches to the position above a bolt hole under position control and inserts the bolt under compliance control.
Keywords :
power distribution; robots; bolt; compliance control; computer graphic; power distribution maintenance robot system; real environment; Clamps; Fasteners; Gears; Maintenance engineering; Robots; Switches; Wires;
Conference_Titel :
Micro-NanoMechatronics and Human Science (MHS), 2011 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
978-1-4577-1360-6
DOI :
10.1109/MHS.2011.6102205
