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. ; TeleScale project; DPI2012-32509 ; Spanish "Ministerio de Economia y Competitividad" ; Peer reviewed
External force estimation for teleoperation based on proprioceptive sensors
26.02.2014
1729-8814
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
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