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External Force Estimation for Teleoperation Based on Proprioceptive Sensors
External Force Estimation for Teleoperation Based on Proprioceptive Sensors
- Source :
- International Journal of Advanced Robotic Systems; March 2014, Vol. 11 Issue: 3
- Publication Year :
- 2014
-
Abstract
- This paper establishes an approach to external force estimation for telerobotic control in radioactive environments by the use of an identified manipulator model and pressure sensors, without employing a force/torque sensor. The advantages of - and need for - force feedback have been well-established in the field of telerobotics, where electrical and back-drivable manipulators have traditionally been used. This research proposes a methodology employing hydraulic robots for telerobotics tasks based on a model identification scheme. Comparative results of a force sensor and the proposed approach using a hydraulic telemanipulator are presented under different conditions. This approach not only presents a cost effective solution but also a methodology for force estimation in radioactive environments, where the dose rates limit the use of electronic devices such as sensing equipment.
Details
- Language :
- English
- ISSN :
- 17298806 and 17298814
- Volume :
- 11
- Issue :
- 3
- Database :
- Supplemental Index
- Journal :
- International Journal of Advanced Robotic Systems
- Publication Type :
- Periodical
- Accession number :
- ejs42206909
- Full Text :
- https://doi.org/10.5772/58468