External force estimation for telerobotics without force sensor

Sol Acero, Enrique del and Pagala, Prithvi Sekha and King, Ryan and Ferre Pérez, Manuel (2013). External force estimation for telerobotics without force sensor. In: "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.

Description

Title: External force estimation for telerobotics without force sensor
Author/s:
  • Sol Acero, Enrique del
  • Pagala, Prithvi Sekha
  • King, Ryan
  • Ferre Pérez, Manuel
Item Type: Presentation at Congress or Conference (Article)
Event Title: External Force Estimation for Telerobotics without Force Sensor
Event Dates: 28/11/2013 - 29/11/2013
Event Location: Madrid
Title of Book: Advances in Robotics
Date: 2013
ISBN: 978-3319034126
Volume: 2
Subjects:
Freetext Keywords: Industrial robot, sensorless, remote handling, force feedback, master-slave system
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

Funding Projects

TypeCodeAcronymLeaderTitle
FP7264336PURESAFETTY-SAATIOPreventing human intervention for increased safety in infrastructures emitting ionizing radiation

More information

Item ID: 38045
DC Identifier: http://oa.upm.es/38045/
OAI Identifier: oai:oa.upm.es:38045
DOI: 10.1007/978-3-319-03653-3_45
Official URL: http://link.springer.com/chapter/10.1007/978-3-319-03653-3_45
Deposited by: Memoria Investigacion
Deposited on: 06 May 2017 08:27
Last Modified: 06 May 2017 08:27
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