There is a trend in robotics towards the use of backdrivable actuators due to multiple reasons. One of them, is the need of sharing the environment with humans. Such a robot needs flexibility to adapt the differences between real environmental…
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Backdrivability
Tagged with: Backdrivability, Backdrivable, control, Force Control, Gearbox, Gears, Robotics, teleoperation
Posted in Robotics
Posted in Robotics
Notes on encoder resolution for velocity control of motors
The simplest velocity estimation method is the Euler approximation that takes the difference of two sampling positions divided by the sampling period. Typically the position measurements are taken with encoders or resolvers which contain stochastic errors which result in enormous…
Tagged with: Encoders, Filter, Kalman, Resolution, Resolvers, Robotics, Robots, teleoperation, Velovity
Posted in Actuators, Robotic devices, Robotics
Posted in Actuators, Robotic devices, Robotics
Motor Selection for Robots (I)
Analise the correct parameters that must be taken into account when selecting a motor is crucial for the success of the application.
Tagged with: Actuators, Couplings, Feedback sensors, Gears, Motor, Motor Parameters, Reflected Inertia, Requirements, Robotics, selection, Trade-off
Posted in Actuators, Robotics
Posted in Actuators, Robotics
Main telerobotic platforms
Main telerobotic platforms
Tagged with: Devices, Haptic, master, Robots, slaves, telerobotics
Posted in Robotic devices, Robotics
Posted in Robotic devices, Robotics
Upgrading of the Prusa i3 X carriage and extruder support
Tagged with: 3D printer, 3D printing, extruder, improvements, Prusa i3, RepRap, Robotics, Semitronics, Waver, X-carriage
Posted in 3D printing, Robotics
Posted in 3D printing, Robotics
New Robotic Surgery Platform First To Offer Tactile Response
Established solutions to the overvoltage produced by the reflections
In order to protect drives, cables and motors from the overvoltage caused by reflections the obvious solution is to reduce the bus voltage [1] with respect to the cable insulation rating. Even with 100% overshoot in voltage, an IGBT drive with 300Vdc bus…
Tagged with: overvoltage, solutions to reflections, standing wave
Posted in Control for teleoperation, Robotics
Posted in Control for teleoperation, Robotics
Standing waves in PWM motor drives and their effect on the actuator control.
The inverter of the PWM drives does not produce sinusoidal output voltage waveforms; instead, it generates a continuous train of pulses which are transmitted to the motor terminals via the motor cable. Peak pulse voltage atthe drive outputis equalto the…
Tagged with: motor control, pwm, reflections, standing waves, telerobotics
Posted in Control for teleoperation, Robotics
Posted in Control for teleoperation, Robotics
Master-Slave Manipulator A100 Telerob (Wälischmiller)
Upgraded X-carriage and extruder V1 (Complete layout)
Figure 7. Improved X-Carriage
Dexter Manipulator manufactured by Oxford Technologies Ltd.
Olympus videoscope.
HoneyBee pipe inspection robot
ABB robot with a closed loop.
Robotics & Mechatronics explanatory diagram including the involved areas such as: mechanical design, electronics, control systems and artificial intelligence.
HoneyBee pipe inspection robot
Kraft GRIPS hydraulic manipulator with force feedback
RE2 EDO Robot
Friction behaviour
ABB IRB 2400
Prosthetic Hand
ATI Gamma 6-axis force torque transducer
Spiral Bevel Gears
Cable Capstan Drives
Types of radiation
FlexiForce foil sensor.
Honeywell FSS1500NSB force sensor.
Enrique del Sol - Robotics, Mechatronics & Control Research 