Human–robot–environment interaction interface for robotic grit-blasting of complex steel bridges: Fid-Bau Portal

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

Chotiprayanakul, P. / Liu, D.K. / Dissanayake, G.

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.

Highlights ► We develop methodologies that enable efficient Human-Robot-Environment Interaction. ► The VF² approach lets robots perform collision-free motion in complex environments. ► The haptic device-robot interface is an intuitive control to human-robot interaction. ► The haptic force generation enables the natural kinesthetic feedback to the operator. ► All approaches are successfully tested with the grit-blasting robotic system.