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External Force Estimation for Teleoperation Based on Proprioceptive Sensors

External Force Estimation for Teleoperation Based on Proprioceptive Sensors

Authors :
del Sol, Enrique
King, Ryan
Scott, Robin
Ferre, Manuel
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