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

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

Description

Title: A sensorless virtual slave control scheme for kinematically dissimilar master-slave teleoperation
Author/s:
  • Sol Acero, Enrique del
  • Scott, R.
  • King, R.
  • Kershaw, Keith
Item Type: Presentation at Congress or Conference (Article)
Event Title: HOTLAB conference 2012
Event Dates: 24-27 Sep 2012
Event Location: Marcoule, France
Title of Book: HOTLAB conference 2012
Date: 2012
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

Funding Projects

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

More information

Item ID: 38081
DC Identifier: https://oa.upm.es/38081/
OAI Identifier: oai:oa.upm.es:38081
Official URL: http://hotlab.sckcen.be/en
Deposited by: Memoria Investigacion
Deposited on: 29 Feb 2016 17:16
Last Modified: 01 Mar 2016 06:39
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