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Grabbing power line conductors based on the measurements of the magnetic field strength

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arxiv 2309.05417 v1 pith:VV7HECDI submitted 2023-09-11 cs.RO

Goran Vasiljevic , Dean Martinovic , Matko Orsag , Stjepan Bogdan This is my paper · ORCID
classification cs.RO
keywords conductormethodrobotfieldgrabbinglocalizationmagneticalternating
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This paper presents the method for the localization and grabbing of the long straight conductor based only on the magnetic field generated by the alternating current flowing through the conductor. The method uses two magnetometers mounted on the robot arm end-effector for localization. This location is then used to determine needed robot movement in order to grab the conductor. The method was tested in the laboratory conditions using the Schunk LWA 4P 6-axis robot arm.

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