Automatica (Journal of IFAC)
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
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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.