Open AccessExternal Force Estimation for Teleoperation Based on Proprioceptive Sensors
Author(s) -
Enrique del Sol,
Ryan King,
Robin Scott,
Manuel Ferré
Publication year - 2014
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/58468
Subject(s) - teleoperation , telerobotics , computer science , robot , torque , haptic technology , control engineering , robotics , simulation , identification (biology) , control theory (sociology) , artificial intelligence , control (management) , mobile robot , engineering , physics , botany , biology , thermodynamics
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.TeleScale project; DPI2012-32509Spanish "Ministerio de Economia y Competitividad"Peer reviewe