External Force Estimation for Teleoperation Based on Proprioceptive Sensors. (31st March 2014)

• Record Type: Journal Article
• Authors: del Sol, Enrique; King, Ryan; Scott, Robin; Ferre, Manuel
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 3(2014)
• Publication Date: 2014-03-31
• Subjects: Force Estimation -- Telerobotics -- Hydraulic Manipulator -- Parameter Identification; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/58468
• Languages: English
• ISSNs: 1729-8806

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.