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
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.
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