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

Sol Acero, Enrique del; Scott, R.; King, R. y Kershaw, Keith (2012). A sensorless virtual slave control scheme for kinematically dissimilar master-slave teleoperation. En: "HOTLAB conference 2012", 24-27 Sep 2012, Marcoule, France. pp. 1-18.

Descripción

Título: A sensorless virtual slave control scheme for kinematically dissimilar master-slave teleoperation
Autor/es:
  • Sol Acero, Enrique del
  • Scott, R.
  • King, R.
  • Kershaw, Keith
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: HOTLAB conference 2012
Fechas del Evento: 24-27 Sep 2012
Lugar del Evento: Marcoule, France
Título del Libro: HOTLAB conference 2012
Fecha: 2012
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Otro
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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.

Proyectos asociados

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

Más información

ID de Registro: 38081
Identificador DC: http://oa.upm.es/38081/
Identificador OAI: oai:oa.upm.es:38081
URL Oficial: http://hotlab.sckcen.be/en
Depositado por: Memoria Investigacion
Depositado el: 29 Feb 2016 17:16
Ultima Modificación: 01 Mar 2016 06:39
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