Observatorio de I+D+i UPM

Memorias de investigación
Artículos en revistas:
A remote handling rate-position controller for telemanipulating in a large workspace
Año:2014
Áreas de investigación
  • Robótica
Datos
Descripción
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.
Internacional
Si
JCR del ISI
Si
Título de la revista
Fusion Engineering And Design
ISSN
0920-3796
Factor de impacto JCR
0,842
Información de impacto
Datos JCR del año 2012
Volumen
89
DOI
10.1016/j.fusengdes.2013.11.003
Número de revista
1
Desde la página
25
Hasta la página
28
Mes
SIN MES
Ranking
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Jorge Barrio Gragera (UPM)
  • Autor: Manuel Ferre Perez (UPM)
  • Autor: Francisco Alejandro Suarez Ruiz (UPM)
  • Autor: Rafael Aracil Santonja (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
S2i 2021 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)