Friction Compensation for Sensor-Less Force Reflection in Servo Manipulators for High Radiation Areas
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Abstract
Master Slave Servo Manipulators are used to handle highly radioactive and hazardous substances. These operations require a delicate and dexterous control e.g. in handling radioactive isotopes irradiated in tray rod facilities of high flux research reactors. To achieve a dexterous man-in-the-loop control, the interaction forces of slave arm with the environment must be sensed and reflected back to the master arm. Due to very high radiation levels, normal Force-Torque sensors cannot be used at the end effector of the slave manipulator to sense these interaction forces. Hence a sensor less force reflection scheme is required. Sensor-less force reflection utilizing the joint motor current enhances the effect of friction and results in a non-linear force reflection to the master arm causing more fatigue and poor dexterity. This paper discusses a scheme for dexterous control using friction compensated sensor-less force feedback in systems with friction and backlash. The proposed scheme has been implemented on a 1-dof master slave setup and the results, showing the efficacy of the scheme, have been presented. A novel method for sensorless estimation and control of joint motor current (and hence torque) is also presented.
References
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Index Terms
- Friction Compensation for Sensor-Less Force Reflection in Servo Manipulators for High Radiation Areas
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Published In
July 2013
366 pages
ISBN:9781450323475
DOI:10.1145/2506095
- Co-chairs:
- Alok Mukherjee,
- Anuj Kapuria,
- Program Chairs:
- Tom Shibata,
- Santanu Chaudhury,
- Publications Chair:
- Subir Kumar Saha
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Published: 04 July 2013
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