Design and implementation of remote robotic control system for nuclear power plant application achieved through kinesthetic force feedback model
- Tata Steel, Jamshedpur (India). Automation Div.
The technology of telerobotic control through a universal and transparent Man-Machine Interface is a growing field of robotics research in today`s industrial scenario because of its promising application in hazardous and unstructured environments. The joystick, a sophisticated information receiver-translator-transmitter device, serves as a Man-Machine Interface for telerobots. The present paper describes the development paradigms of a remote control system for a planar four degrees-of-freedom joystick following position feed-forward force/torque feedback strategy in a bi-lateral mode. This joystick based control technology is designed to actuate an industrial robot working in nuclear power plant. The remote control system has been illustrated with model, algorithm, electronic hardware and software routines along with experimental results in order to have effective telemanipulation.
- OSTI ID:
- 474569
- Report Number(s):
- CONF-9601119--; ISBN 0-7803-2795-0
- Country of Publication:
- United States
- Language:
- English
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