Haptics force feedback based on current control loop for remote manipulation |
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| Jose Breñosa, Manuel Ferre |
- Abstract:
- This paper presents the development of a force control loop in a teleoperation system with master and slave robotic devices. The force control based on current control loop has been applied to a teleoperation open platform consisting on electric master device, hydraulic slave robot and equipment for data acquisition and control programming. This force control loop is applied in each master joint using a custom designed electronic board with current sensors for closing the control loop. This board gives information about the current consumption and the direction of rotation of each motor drive. For maintaining the correct relationship between current and torque in each motor some experiments were performed to obtain the curves with an force/torque sensor from ATI. Finally, an inexpensive force control is obtained in the master device, providing an accurate haptic feedback for the operator.
- Keywords:
- force, feedback, current, control, telemanipulation
- Download:
- IMEKO-TC4-2014-422.pdf
- DOI:
- -
- Event details
- IMEKO TC:
- TC4
- Event name:
- TC4 Symposium 2014
- Title:
20th IMEKO TC4 Symposium on Measurements of Electrical Quantities (together with 18th TC4 International Workshop on ADC and DCA Modeling and Testing, IWADC)
"Research on Electrical and Electronic Measurement for the Economic Upturn"- Place:
- Benevento, ITALY
- Time:
- 15 September 2014 - 17 September 2014