Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
A remote handling rate-position controller for telemanipulating in a large workspace
Year:2014
Research Areas
  • Robotics
Information
Abstract
This paper presents a new haptic rate-position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a slave robot from Kraft Telerobotics and a commercial haptic interface as a master device. A curvature path following task has been simulated using the proposed controller which was compared with the force-position control algorithm. Results obtained show that higher accuracy is obtained when the proposed method is used, spending a similar amount of time to perform the task.
International
Si
JCR
Si
Title
Fusion Engineering And Design
ISBN
0920-3796
Impact factor JCR
0,842
Impact info
Datos JCR del año 2012
Volume
89
10.1016/j.fusengdes.2013.11.003
Journal number
1
From page
25
To page
28
Month
SIN MES
Ranking
Participants
  • Autor: Jorge Barrio Gragera (UPM)
  • Autor: Manuel Ferre Perez (UPM)
  • Autor: Francisco Alejandro Suarez Ruiz (UPM)
  • Autor: Rafael Aracil Santonja (UPM)
Research Group, Departaments and Institutes related
  • Creador: Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
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