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A Method of Blindfolded Opening of a Door in High Radiation Areas Using a Compliance Controlled Tele-Robot

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Advancements in Automation, Robotics and Sensing (ICAARS 2016)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 627))

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Abstract

Simultaneous force and Position control is indispensable for the execution of any real world task. In this work, we have investigated the task of opening a door in a hot-cell i.e. high radiation environment with the specified objective of safe completion of task without using a force torque sensor. For this, a compliance control methodology has been formulated which generates both position path and force profile for the task undertaken. The control action employed in the current approach involves position and force control of the manipulator in mutually orthogonal directions viz., radial and tangential directions to the centre of rotation of the door. The kinematic parameters required for such tasks are position of the door’s knob and its hinge. The performance of the control algorithm has been tested on a simulated generic robot dynamic model. Firstly, the algorithm and control action was tested for the task of opening the door whose kinematics was known a priori and eventually tested for the task where the prior knowledge of the door kinematics and hinge position was not known.

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Author information

Authors and Affiliations

  1. Division of Remote Handling and Robotics, Bhabha Atomic Research Centre, Mumbai, 400 085, India

    Tumapala Teja Swaroop, Surendra Singh Saini, Ushnish Sarkar & Debasish Datta Ray

Authors
  1. Tumapala Teja Swaroop
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  2. Surendra Singh Saini
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  3. Ushnish Sarkar
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  4. Debasish Datta Ray
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Corresponding author

Correspondence to Tumapala Teja Swaroop .

Editor information

Editors and Affiliations

  1. Department of Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    B Vinod

  2. College of Technology, Purdue University, Lafayette, Indiana, USA

    Richard Voyles

  3. Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    Prahlad Vadakkepat

  4. Department of Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    M. Sundaram

  5. Department of Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    K S Sujatha

  6. Department of Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    J Joe Brislin

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© 2016 Springer Nature Singapore Pte Ltd.

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Swaroop, T.T., Saini, S.S., Sarkar, U., Ray, D.D. (2016). A Method of Blindfolded Opening of a Door in High Radiation Areas Using a Compliance Controlled Tele-Robot. In: Vinod, B., Voyles, R., Vadakkepat, P., Sundaram, M., Sujatha, K., Brislin, J. (eds) Advancements in Automation, Robotics and Sensing. ICAARS 2016. Communications in Computer and Information Science, vol 627. Springer, Singapore. https://doi.org/10.1007/978-981-10-2845-8_11

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  • DOI: https://doi.org/10.1007/978-981-10-2845-8_11

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2844-1

  • Online ISBN: 978-981-10-2845-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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