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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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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

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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

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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

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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

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Posted in Control for teleoperation, Robotics
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