ROBTET Robot for high-voltage work
ROBTET is the development of a robotic system for line-crops power maintenance. The tele-operated system, provides the user in ground-station amount of information using tele-presence techniques. ROBTE is being designed to work under the Spanish network distribution (up to 46kV).
Two electrical articulated manipulators (masters) allow the operator to control the slave robots. The master robots are anthropomorphic and use a force reflection control scheme, which means, a bilateral control in both force and position. The force reflection relation is from 1 to 10 (1 Kg in the Master represents 10 Kg in the slave), which allow the operator to feel a larger sense of teleoperation. In both slaves, a virtual force system have been embedded, in order to avoid collisions.