Por favor, use este identificador para citar o enlazar a este item:
http://hdl.handle.net/10261/90003
COMPARTIR / EXPORTAR:
SHARE BASE | |
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE | |
Campo DC | Valor | Lengua/Idioma |
---|---|---|
dc.contributor.author | Barrio, Jorge | - |
dc.contributor.author | Ferre, Manuel | - |
dc.contributor.author | Suárez Ruiz, Francisco A. | - |
dc.contributor.author | Aracil, Rafael | - |
dc.date.issued | 2014-01-28 | - |
dc.identifier.citation | Fusion Engineering and Design 89(1): 25-28 (2014) | - |
dc.identifier.uri | http://hdl.handle.net/10261/90003 | - |
dc.description | 4 Pags., 5 Figs. The definitive version is available at: http://www.sciencedirect.com/science/article/pii/S0920379613007011. Preprint submitted to Fusion Engineering and Design. March 17, 2013 | eng |
dc.description.abstract | This paper presents a new Haptic Rate-Position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very e ective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a slave robot from Kraft Telerobotics and a commercial haptic interface as a master device. A curvature path following task has been simulated using the proposed controller which was compared with the force-position control algorithm. Results obtained show that higher accuracy is obtained when the proposed method is used, spending a similar amount of time to perform the task.(C) 2013 Elsevier B.V. All rights reserved. | eng |
dc.description.sponsorship | This work was carried out under the EFDA Goal Oriented Training Programme (WP10-GOT- GOTRH) and the financial support of TECHNOFUSION programme from Comunidad de Madrid, which are greatly acknowledged. The views and opinions expressed herein do not necessarily reflect those of the European Commission. | - |
dc.language.iso | eng | es_ES |
dc.relation | EFDA Goal Oriented Training Programme WP10-GOT-GOTRH | - |
dc.relation | S2009/ENE-1679/TECHNOFUSION | - |
dc.relation.isversionof | Preprint | - |
dc.rights | openAccess | eng |
dc.subject | Remote handling | eng |
dc.subject | Telemanipulation | eng |
dc.subject | Haptic interfaces | eng |
dc.title | A remote handling rate-position controller for telemanipulating in a large workspace | eng |
dc.type | preprint | eng |
dc.identifier.doi | 10.1016/j.fusengdes.2013.11.003 | - |
dc.description.peerreviewed | Peer reviewed | eng |
dc.relation.publisherversion | http://dx.doi.org/10.1016/j.fusengdes.2013.11.003 | es_ES |
dc.identifier.e-issn | 0920-3796 | - |
dc.type.coar | http://purl.org/coar/resource_type/c_816b | es_ES |
item.openairecristype | http://purl.org/coar/resource_type/c_816b | - |
item.fulltext | With Fulltext | - |
item.cerifentitytype | Publications | - |
item.openairetype | preprint | - |
item.languageiso639-1 | en | - |
item.grantfulltext | open | - |
Aparece en las colecciones: | (CAR) Artículos |
Ficheros en este ítem:
Fichero | Descripción | Tamaño | Formato | |
---|---|---|---|---|
Barrio_J_Fusion_Engineering_and_Design_89_1_2014_pp25_28.pdf | 711,1 kB | Adobe PDF | Visualizar/Abrir |
CORE Recommender
WEB OF SCIENCETM
Citations
5
checked on 26-nov-2021
Page view(s)
283
checked on 17-abr-2024
Download(s)
552
checked on 17-abr-2024
Google ScholarTM
Check
Altmetric
Altmetric
NOTA: Los ítems de Digital.CSIC están protegidos por copyright, con todos los derechos reservados, a menos que se indique lo contrario.