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Proceedings Paper

Teleoperated system for live power lines maintenance
Author(s): Rafael Aracil; Luis F. Penin; Manuel Ferre; Luis Miguel Jimenez; Antonio Barrientos
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Paper Abstract

Outage-free maintenance of electrical power lines have been developed and used throughout the years. In these techniques workers have to work near energized components with hazard of electric shock and falls. In this context, a teleoperator system is being developed to increase the safety of the workers and the overall efficiency. It counts with two hydraulic-driven master-slave teleoperated manipulators on top of an insulated boom over a truck. The operator commands the manipulators from a cabin on the truck via a pair of master arms, and it receives visual feedback through a stereo vision system. Multimedia display, voice recognition and synthesis, stereo vision and force-feedback are some of the features being implemented in order to achieve telepresence of the operator. The paper addressed the implementation of these features on a teleoperation system prepared to work in a semi-structured hazardous environment performing repair and maintenance related tasks.

Paper Details

Date Published: 1 December 1995
PDF: 10 pages
Proc. SPIE 2590, Telemanipulator and Telepresence Technologies II, (1 December 1995); doi: 10.1117/12.227946
Show Author Affiliations
Rafael Aracil, Univ. Politecnica de Madrid (Spain)
Luis F. Penin, Univ. Politecnica de Madrid (Spain)
Manuel Ferre, Univ. Politecnica de Madrid (Spain)
Luis Miguel Jimenez, Univ. Politecnica de Madrid (Spain)
Antonio Barrientos, Univ. Politecnica de Madrid (Spain)

Published in SPIE Proceedings Vol. 2590:
Telemanipulator and Telepresence Technologies II
Marcos Salganicoff, Editor(s)

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