A task analysis and a controller system design for a power distribution line maintenance robot

Author

Hida, Minoru ; Yingxin He ; Yamamoto, Yusaku ; Maekawa, N. ; Tatsuno, Kyoichi ; Kunii, Y.

Author_Institution

Dept. of Electr. & Electron. Eng., Meijo Univ., Nagoya, Japan

fYear

2012

fDate

11-13 Sept. 2012

Firstpage

102

Lastpage

107

Abstract

We are conducting a feasibility study on a semi-autonomous maintenance robot for power distribution lines that works using task instructions. We are analyzing the task of “switch gear installation” in power distribution lines maintenance and describing a task scenario for it. We are also designing a controller for the robot system. In the controller, the tasks are described using robot motion commands in databases and the robot motion commands are executed by agents.

Keywords

maintenance engineering; manipulators; power distribution lines; service robots; switchgear; controller design; controller system design; power distribution line maintenance robot; robot motion command; robot system; semiautonomous maintenance robot; switch gear installation; task analysis; task instruction; task scenario; Databases; Fasteners; Gears; Maintenance engineering; Robot motion; Switches; Nomenclature; power distribution line maintenance; robot; robot controller; task level instruction;

fLanguage

English

Publisher

ieee

Conference_Titel

Applied Robotics for the Power Industry (CARPI), 2012 2nd International Conference on

Conference_Location

Zurich

Print_ISBN

978-1-4673-4585-9

Type

conf

DOI

10.1109/CARPI.2012.6473346

Filename

6473346