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.

翻译：本文提出了一种仅基于导体中交流电流产生的磁场来定位并抓取长直导体的方法。该方法利用安装在机器人手臂末端执行器上的两个磁力计进行定位，并据此确定机器人抓取导体所需的运动轨迹。本方法已在实验室条件下使用Schunk LWA 4P六轴机器人手臂进行了测试验证。