Title :
ROBTET: a new teleoperated system for live-line maintenance
Author :
Aracil, R. ; Penin, L.F. ; Feme, M. ; Jiménez, L.M. ; Barrientos, A. ; Santamaría, A. ; Martinez, P. ; Tudun, A.
Author_Institution :
Div. Ingenieria de Sistemas & Autom., Polytechnical Univ. of Madrid, Spain
fDate :
29 Oct-3 Nov 1995
Abstract :
This paper presents a new teleoperated system for live-line maintenance developed for the IBERDROLA electrical utility. Its aim is to increase the safety and comfort of the workers and the overall efficiency, as well as to reduce labour requirements. Its design is based on other already developed systems but with a new approach. It consists of a pair of hydraulic-driven master-slave teleoperated manipulators, placed on top of an insulated boom, which execute directly on the hot line, the tasks commanded via master arms by an operator on the ground. Telepresence of the operator is accomplished through a 3-D vision system, a multimedia interface and the force-feedback capabilities of the manipulators. This paper describes in detail all these elements, as well as the teleoperation architecture that interface them, with special attention to the telepresence issues which seem to lack in similar systems
Keywords :
distribution networks; industrial manipulators; maintenance engineering; power engineering computing; power overhead lines; robot vision; telecontrol; 3-D vision system; ROBTET; efficiency; electric utility; force-feedback capabilities; interface; live-line maintenance; master-slave manipulators; multimedia interface; overhead distribution lines; safety; teleoperation; telepresence; Arm; Insulation; Machine vision; Master-slave; Poles and towers; Prototypes; Safety; Service robots; Telerobotics; Voltage;
Conference_Titel :
Transmission and Distribution Construction and Live Line Maintenance, 1995. ESMO-95 Proceedings., Seventh International Conference on
Conference_Location :
Columbus, OH
Print_ISBN :
0-7803-2506-0
DOI :
10.1109/TDCLLM.1995.485058
