Por favor, use este identificador para citar o enlazar a este item:
http://hdl.handle.net/10261/109305
COMPARTIR / EXPORTAR:
SHARE CORE BASE | |
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE | |
Campo DC | Valor | Lengua/Idioma |
---|---|---|
dc.contributor.author | Sol, Enrique del | - |
dc.contributor.author | King, Ryan | - |
dc.contributor.author | Scott, Robin | - |
dc.contributor.author | Ferre, Manuel | - |
dc.date.issued | 2014-02-26 | - |
dc.identifier.citation | International Journal of Advanced Robotic Systems 11 (52): 10.5772/58468 (2014) | - |
dc.identifier.issn | 1729-8806 | - |
dc.identifier.uri | http://hdl.handle.net/10261/109305 | - |
dc.description.abstract | This 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. | es_ES |
dc.description.sponsorship | TeleScale project; DPI2012-32509 | es_ES |
dc.description.sponsorship | Spanish "Ministerio de Economia y Competitividad" | es_ES |
dc.language.iso | eng | es_ES |
dc.relation | PITN-GA-2010-264336-PURESAFE | es_ES |
dc.relation.isversionof | Publisher's version | en |
dc.rights | openAccess | es_ES |
dc.subject | Force Estimation | en |
dc.subject | Telerobotics | en |
dc.subject | Hydraulic manipulator | en |
dc.subject | Parameter identification | en |
dc.title | External force estimation for teleoperation based on proprioceptive sensors | eng |
dc.type | artículo | es_ES |
dc.identifier.doi | 10.5772/58468 | - |
dc.description.peerreviewed | Peer reviewed | es_ES |
dc.relation.publisherversion | http://dx.doi.org/10.5772/58468 | es_ES |
dc.identifier.e-issn | 1729-8814 | - |
dc.rights.license | http://creativecommons.org/licenses/by-nc-sa/3.0/ | es_ES |
dc.relation.csic | Sí | es_ES |
dc.type.coar | http://purl.org/coar/resource_type/c_6501 | es_ES |
item.openairetype | artículo | - |
item.grantfulltext | open | - |
item.cerifentitytype | Publications | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
item.fulltext | With Fulltext | - |
item.languageiso639-1 | en | - |
Aparece en las colecciones: | (CAR) Artículos |
Ficheros en este ítem:
Fichero | Descripción | Tamaño | Formato | |
---|---|---|---|---|
del_Sol_Extyernal_Force_International Journal of Advanced Robotic Systems_2014.pdf | 13,12 MB | Adobe PDF | Visualizar/Abrir |
CORE Recommender
SCOPUSTM
Citations
15
checked on 12-abr-2024
WEB OF SCIENCETM
Citations
10
checked on 14-feb-2024
Page view(s)
320
checked on 19-abr-2024
Download(s)
262
checked on 19-abr-2024
Google ScholarTM
Check
Altmetric
Altmetric
Este item está licenciado bajo una Licencia Creative Commons