Publications / 2006 Proceedings of the 23rd ISARC, Tokyo, Japan

Bridge Maintenance Robotic Arm: Capacitive Sensor for Obstacle Ranging in Particle Laden Air

Nathan Kirchner, Dikai Liu, Gamini Dissanayake
Pages 596-601 (2006 Proceedings of the 23rd ISARC, Tokyo, Japan, ISBN 9784990271718, ISSN 2413-5844)

This paper describes an Adaptive Capacitive Sensor Network for Obstacle Ranging (ACSOR) that is intended to provide entire arm encompassing obstacle range data for a robotic arm conducting the task of sandblasting a bridge. A multi-channel capacitive sensor capable of dynamic obstacle ranging in air heavily laden with lead contaminated sandblasting refuse has been developed. Experimental results have shown the ACSOR’s working range to be 50cm, that it is relatively immune from airborne lead contaminated sandblasting refuse and that it is capable of ranging an obstacle 21cm away whilst fitted to a robotic arm moving at 2cm/s with an obstacle range error of less than 1cm.

Keywords: Capacitive, range sensor, obstacle avoidance, harsh environment