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…
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Established solutions to the overvoltage produced by the reflections
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
Force estimation with Luenberger-Sliding observers
Two lines are showed in the upper image of this video. In blue, the estimated total force and in red, the measured force. This video shows how the Luenberger-Sliding observer manages to estimate external forces during a compression task. Sliding…
Tagged with: Force Estimation, KRAFT, Luenberger, manipulators, observers, Robots, Sliding
Posted in Control for teleoperation, Force Estimation, Robotics
Posted in Control for teleoperation, Force Estimation, Robotics
Free access during 50 days to my paper: On the control performance of motors driven by long cables for remote handling at ITER
Thanks to the Elsevier guys I have a link to get free access to my recently published paper: on the control performance of motors driven by long cables for remote handling at ITER. It has been published in the journal:…
Tagged with: control, fusion, ITER, motors, Remote handling
Posted in Control for teleoperation, Robotics
Posted in Control for teleoperation, Robotics
Why perform sensorless teleoperation. An industrial robot approach for remote handling in radioactive facilities.
The radioactive environments can be significantly different from each other depending on the dose rate emitted and with them the requirements of the manipulators or robots used within them. In order to cope with the less demanding doses, it is…
Tagged with: force feedback, industrial robot, master, non backdrivable, Sensorless, slaves, teleoperation
Posted in Control for teleoperation, Force Estimation, Robotics
Posted in Control for teleoperation, Force Estimation, Robotics
Teleoperating an ABB IRB 2400-16 (II)
Delay issues found during the RS422 serial communication and RAPID program execution Different programming and communication techniques were tested under the development of the optimum teleoperation control. Some of them have already been explained before, and some others related with…
Tagged with: ABB, closed loop, industrial robot, kinematics, Phantom OMNI, teleoperation
Posted in Control for teleoperation, Robotics
Posted in Control for teleoperation, Robotics
Teleoperating an ABB IRB 2400-16 (I)
With the objective of testing my kinematics algorithms, an experimental setup was planned and commissioned. This setup was based on a bilateral control with dissimilar master and slave. The master used was the Phantom OMNI, manufactured by Sensable. It is worth…
Tagged with: ABB IRB, Haptic, kinematics algorithms, LAbView, Phantom OMNI, RAPID, Robots, Sensable, teleoperation
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 