MATEC Web Conf.
Volume 75, 20162016 International Conference on Measurement Instrumentation and Electronics (ICMIE 2016)
|Number of page(s)||4|
|Published online||01 September 2016|
Estimation for torques applied to the master side in a construction robot teleoperation system
Jilin University, School of Mechanical and Engineering, 130022 ChangChun, Jilin, China
The purpose of this research is to develop a method that measures a torque which an operator applies to the joystick without using a torque/force sensor on a joystick. We dealt with a construction robot teleoperation system which is comprised of two joysticks as the master, and an excavator with four degrees of freedom consisting of fork glove, swing, boom, and arm as the slave. It is necessary to know the torque (force) exerted on the master side in force control. Because the joystick does not have a force/torque sensor in our lab, it is not possible to directly obtain the torque. To give prominence to the simple and practical construction robot teleoperation system in our lab, we proposed a method that measures the torque exerted on the joystick to existing equipment. Its effectiveness was verified by a reaction torque experiment.
© The Authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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