A sensorless virtual slave control scheme for kinematically dissimilar master-slave teleoperation


Autoria(s): Sol Acero, Enrique del; Scott, R.; King, R.; Kershaw, Keith
Data(s)

2012

Resumo

The use of telerobotic systems is essential for remote handling (RH) operations in radioactive areas of scientific facilities that generate high doses of radiation. Recent developments in remote handling technology has seen a great deal of effort being directed towards the design of modular remote handling control rooms equipped with a standard master arm which will be used to separately control a range of different slave devices. This application thus requires a kinematically dissimilar master-slave control scheme. In order to avoid drag and other effects such as friction or other non-linear and unmodelled slave arm effects of the common position-position architecture in nonbackdrivable slaves, this research has implemented a force-position control scheme. End-effector force is derived from motor torque values which, to avoid the use of radiation intolerant and costly sensing devices, are inferred from motor current measurement. This has been demonstrated on a 1-DOF test-rig with a permanent magnet synchronous motor teleoperated by a Sensable Phantom Omni® haptic master. This has been shown to allow accurate control while realistically conveying dynamic force information back to the operator.

Formato

application/pdf

Identificador

http://oa.upm.es/38081/

Idioma(s)

eng

Publicador

E.T.S.I. Industriales (UPM)

Relação

http://oa.upm.es/38081/1/INVE_MEM_2012_206936.pdf

http://hotlab.sckcen.be/en

info:eu-repo/grantAgreement/EC/FP7/264336

Direitos

http://creativecommons.org/licenses/by-nc-nd/3.0/es/

info:eu-repo/semantics/openAccess

Fonte

HOTLAB conference 2012 | HOTLAB conference 2012 | 24-27 Sep 2012 | Marcoule, France

Palavras-Chave #Robótica e Informática Industrial
Tipo

info:eu-repo/semantics/conferenceObject

Ponencia en Congreso o Jornada

NonPeerReviewed