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External force estimation for telerobotics without force sensor
Cita
Sol Acero, Enrique del, Pagala, Prithvi Sekha, King, Ryan and Ferre Pérez, Manuel 
ORCID: https://orcid.org/0000-0003-0030-1551
(2013).
External force estimation for telerobotics without force sensor.
En: "External Force Estimation for Telerobotics without Force Sensor", 28/11/2013 - 29/11/2013, Madrid. ISBN 978-3319034126. pp. 631-644.
https://doi.org/10.1007/978-3-319-03653-3_45.
ORCID: https://orcid.org/0000-0003-0030-1551
(2013).
External force estimation for telerobotics without force sensor.
En: "External Force Estimation for Telerobotics without Force Sensor", 28/11/2013 - 29/11/2013, Madrid. ISBN 978-3319034126. pp. 631-644.
https://doi.org/10.1007/978-3-319-03653-3_45.
Descripción
| Título: | External force estimation for telerobotics without force sensor |
|---|---|
| Autor/es: |
|
| Tipo de Documento: | Ponencia en Congreso o Jornada (Artículo) |
| Título del Evento: | External Force Estimation for Telerobotics without Force Sensor |
| Fechas del Evento: | 28/11/2013 - 29/11/2013 |
| Lugar del Evento: | Madrid |
| Título del Libro: | Advances in Robotics |
| Fecha: | 2013 |
| ISBN: | 978-3319034126 |
| Volumen: | 2 |
| Materias: | |
| ODS: | |
| Palabras Clave Informales: | Industrial robot, sensorless, remote handling, force feedback, master-slave system |
| Escuela: | Centro de Automática y Robótica (CAR) UPM-CSIC |
| Departamento: | Otro |
| Licencias Creative Commons: | Reconocimiento - Sin obra derivada - No comercial |
Resumen
This paper establishes an approach to external force estimation through the use of a mathematical model and current sensing, without employing a force/torque sensor. The advantages and need for force feedback have been well established in the field of telerobotics. This paper presents the requirement for sensorless force estimation and comparative results between a force sensor and the presented approach using an industrial robot. The approach presents not only a cost effective solution but also a solution for force sensing in hazardous environments, especially ionizing radiation prone environments where the dose rates limit the use of sensing equipment. The paper also discusses the applications and advantages presented by this work in various fields.
Proyectos asociados
Tipo
Código
Acrónimo
Responsable
Título
FP7
264336
PURESAFE
TTY-SAATIO
Preventing human intervention for increased safety in infrastructures emitting ionizing radiation
Más información
| ID de Registro: | 38045 |
|---|---|
| Identificador DC: | https://oa.upm.es/38045/ |
| Identificador OAI: | oai:oa.upm.es:38045 |
| Identificador DOI: | 10.1007/978-3-319-03653-3_45 |
| URL Oficial: | http://link.springer.com/chapter/10.1007/978-3-319... |
| Depositado por: | Memoria Investigacion |
| Depositado el: | 06 May 2017 08:27 |
| Ultima Modificación: | 06 May 2017 08:27 |
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