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External force estimation for teleoperation based on proprioceptive sensors

AuthorsSol, Enrique del; King, Ryan; Scott, Robin; Ferre, Manuel
KeywordsForce Estimation
Hydraulic manipulator
Parameter Identification
Issue Date26-Feb-2014
CitationInternational Journal of Advanced Robotic Systems 11 (52): 10.5772/58468 (2014)
AbstractThis paper establishes an approach to external force estimation for telerobotic control in radioactive environments by the use of an identified manipulator model and pressure sensors, without employing a force/torque sensor. The advantages of - and need for - force feedback have been well-established in the field of telerobotics, where electrical and back-drivable manipulators have traditionally been used. This research proposes a methodology employing hydraulic robots for telerobotics tasks based on a model identification scheme. Comparative results of a force sensor and the proposed approach using a hydraulic telemanipulator are presented under different conditions. This approach not only presents a cost effective solution but also a methodology for force estimation in radioactive environments, where the dose rates limit the use of electronic devices such as sensing equipment.
Publisher version (URL)http://dx.doi.org/10.5772/58468
Appears in Collections:(CAR) Artículos
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