Minimising the stiction will improve the resolution of your force controlled application.
Enrique del Sol – Robotics, Mechatronics & Control Research
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Blog Archives
Why non-backdrivability is a problem for Force Control
Tagged with: Actuators, Backdrivability, friction, motors, non backdrivable, non-backdrivable, relfected inertia, Robots, stiction
Posted in General, Mechanical Design
Posted in General, Mechanical Design
The most common places to shop for robotics components
This time I would like to review the most used online shops to buy components for a robotic design. Some of them are more focused on the professional market and some others pay attention to the hobbyist. The two main…
Tagged with: Actuators, buying, cables, components, electronics, mechanical components, motors, purchasing, Robots, shopping, structural elements
Posted in Robotics
Posted in Robotics
Magnetic Encoders VS Optical Encoders
Encoders, whether rotary or linear, absolute or incremental, typically use one of two measuring principles—optical or magnetic. While optical encoders were, in the past, the primary choice for high resolution applications, improvements in magnetic encoder technology now allow them to…
Tagged with: Actuators, Angle Measurement, Feedback, Magnetic Encoders, motors, Optical, Position Measurement, Robots
Posted in Robotics, Sensors
Posted in Robotics, Sensors
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
Main telerobotic platforms
Main telerobotic platforms
Tagged with: Devices, Haptic, master, Robots, slaves, telerobotics
Posted in Robotic devices, Robotics
Posted in Robotic devices, Robotics
Dynamic modelling of robots: parameters identification (II)
Hi! In this post I will explain the method for obtaining a set of equations to be able to identify the dynamic model of robot composed by several links even in presence of closed loops. In the previous post I detailed…
Tagged with: closed loop, Dynamic, modelling, parameter indetification, Robots, spanning tree
Posted in Robot Dynamics, Robotics
Posted in Robot Dynamics, 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
Dynamic modelling of robots: parameters identification (I)
In this post I describe the initial steps to identify the parameters of a robot with either open or closed chain.
Tagged with: CAD, closed links, Dynamic modelling, dynamics, identification, parameter, Robots
Posted in Robot Dynamics, Robotics
Posted in Robot Dynamics, 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 (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 