Friction Compensation for Sensor-Less Force Reflection in Servo Manipulators for High Radiation Areas

Abstract

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… (More)
DOI: 10.1145/2506095.2506138

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