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:…
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Free access during 50 days to my paper: On the control performance of motors driven by long cables for remote handling at ITER
Tagged with: control, fusion, ITER, motors, Remote handling
Posted in Control for teleoperation, Robotics
Posted in Control for teleoperation, Robotics
Dynamic modelling of robots with rigid links (I)
Defining the dynamic model The conventional robotics equation describing the inner forces (1) of a kinematic chain of rigid forces in the absence of external forces can be obtained by employing any established algorithm, e.g. Newton-Euler iterative method or the…
Tagged with: links, model, modelling, rigid, Robot Dynamics, Robotics
Posted in Robot Dynamics, Robotics, Uncategorized
Posted in Robot Dynamics, Robotics, Uncategorized
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
Radiation tolerance of robotics & telerobotics systems
In this post, a review of the main effects due to the radiation on telerobotics systems is performed in order to justify the approach I took during my research and clarify the issues found. Due to the radiation levels in most…
Tagged with: cables, grease, mechanisms, motors, Radiation, Robots, telerobotics, wires
Posted in Radiation, Robotics
Posted in Radiation, 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.
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