文章基本信息

标题：External Force Estimation for Teleoperation Based on Proprioceptive Sensors
本地全文：下载
作者：Enrique del Sol ; Ryan King ; Robin Scott 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2014
卷号：11
DOI：10.5772/58468
语种：English
出版社：SAGE Publications
摘要：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.
关键词：Force Estimation; Telerobotics; Hydraulic Manipulator; Parameter Identification