Human–robot–environment interaction interface for robotic grit-blasting of complex steel bridges

Abstract This paper presents a human-robot-environment interaction (HREI) interface using haptic feedback for a grit-blasting robot operating in close proximity to a complex steel bridge structure. The productivity requirements dictate the need for efficient algorithms for mapping, exploration, and collision-free motion planning. While a large portion of the grit-blasting operation can be automated, a tele-operation is essential to deal with some difficult to access sections such as edges, complex corners, and surfaces which can only be approached through hole. A 3-dimensional virtual force field (3D-VF2) method is developed for capturing the relationship between the robot and its environment. A novel haptic force generation method and a workspace mapping algorithm allow intuitive interaction between the operator and the robot through haptic feedback. The strategies presented are verified in extensive simulations and experiments conducted on a steel bridge with a prototype grit-blasting robot.

[1]  Carlos Balaguer,et al.  Robot-aided tunnel inspection and maintenance system by vision and proximity sensor integration , 2011 .

[2]  Dikai Liu,et al.  Surface Type Classification With a Laser Range Finder , 2009, IEEE Sensors Journal.

[3]  D.K. Liu,et al.  Workspace mapping and force control for small haptic device based robot teleoperation , 2009, 2009 International Conference on Information and Automation.

[4]  Kyu-Yeul Lee,et al.  Self-traveling robotic system for autonomous abrasive blast cleaning in double-hulled structures of ships , 2010 .

[5]  J.C. Perry,et al.  Upper-Limb Powered Exoskeleton Design , 2007, IEEE/ASME Transactions on Mechatronics.

[6]  Jih‐Gau Juang,et al.  Collision avoidance using potential fields , 1998 .

[7]  Gamini Dissanayake,et al.  A Variable Speed Force Field Method for Multi-Robot Collaboration , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Dalong Wang,et al.  A HAPTIC BASE HUMAN ROBOT INTERACTION APPROACH FOR ROBOTIC GRIT BLASTING , 2008 .

[9]  Gamini Dissanayake,et al.  A 3-DIMENSIONAL FORCE FIELD METHOD FOR ROBOT COLLISION AVOIDANCE IN COMPLEX ENVIRONMENTS , 2007 .

[10]  Jih-Gau Juang,et al.  Application of repulsive force and genetic algorithm to multi-manipulator collision avoidance , 2004, 2004 5th Asian Control Conference (IEEE Cat. No.04EX904).

[11]  S. LaValle,et al.  Randomized Kinodynamic Planning , 2001 .

[12]  Gamini Dissanayake,et al.  An effective exploration approach to simultaneous mapping and surface material–type identification of complex three‐dimensional environments , 2009, J. Field Robotics.

[13]  Elizabeth A. Croft,et al.  Haptic rendering of rigid contacts using impulsive and penalty forces , 2005, IEEE Transactions on Robotics.

[14]  Kuu-Young Young,et al.  Force reflection and manipulation for a VR-based telerobotic system , 2000 .

[15]  Leonhard E. Bernold,et al.  Development of a robotic bridge maintenance system , 1998 .

[16]  Oussama Khatib,et al.  Spanning large workspaces using small haptic devices , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[17]  John Kenneth Salisbury,et al.  Haptic Rendering: Introductory Concepts , 2004, IEEE Computer Graphics and Applications.

[18]  John Kenneth Salisbury,et al.  Large Workspace Haptic Devices - A New Actuation Approach , 2008, 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[19]  Gamini Dissanayake,et al.  Capacitive sensor for object ranging and material type identification , 2008 .

[20]  Luis M. Muñoz,et al.  Improving the Human–Robot Interface Through Adaptive Multispace Transformation , 2009, IEEE Transactions on Robotics.

[21]  Dikai Liu,et al.  An efficient trajectory planning approach for autonomous robots in complex bridge environments , 2009, Int. J. Comput. Aided Eng. Technol..

[22]  Fusaomi Nagata,et al.  Robotic sanding system for new designed furniture with free-formed surface , 2007 .

[23]  Thierry Siméon,et al.  Path coordination for multiple mobile robots: a resolution-complete algorithm , 2002, IEEE Trans. Robotics Autom..

[24]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1986 .

[25]  Gamini Dissanayake,et al.  An effective exploration approach to simultaneous mapping and surface material–type identification of complex three-dimensional environments , 2009 .

[26]  Elizabeth A. Croft,et al.  Haptic feedback using local models of interaction , 2003, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings..

[27]  Dikai Liu,et al.  A robotic system for steel bridge maintenance : research challenges and system design , 2008, ICRA 2008.

[28]  Michael Greenspan,et al.  Obstacle count independent real-time collision avoidance , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[29]  Rolf Dieter Schraft,et al.  PowerMate – A Safe and Intuitive Robot Assistant for Handling and Assembly Tasks , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[30]  Oussama Khatib,et al.  A Haptic Teleoperation Approach Based on Contact Force Control , 2006, Int. J. Robotics Res..

[31]  Markus Vincze,et al.  The inverse approach of FlexPaint [robotic spray painting] , 2005, IEEE Robotics & Automation Magazine.

[32]  Oliver Brock,et al.  Real-time obstacle avoidance and motion coordination in a multi-robot workcell , 1999, Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470).

[33]  Subir Kumar Saha,et al.  Constraint Force Formulation for Industrial Manipulators , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[34]  Elizabeth A. Croft,et al.  Jerk-bounded manipulator trajectory planning: design for real-time applications , 2003, IEEE Trans. Robotics Autom..

[35]  G. Dissanayake,et al.  Motion Coordination of Multiple Autonomous Vehicles in Dynamic and Strictly Constrained Environments , 2006, 2006 IEEE Conference on Cybernetics and Intelligent Systems.