Force override rate control for robotic manipulators
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Authors
Driels, Morris
Subjects
END EFFECTORS
MANIPULATORS
ROBOT ARMS
ROBOT CONTROL
ROBOTS
DEGREES OF FREEDOM
RATES (PER TIME)
MANIPULATORS
ROBOT ARMS
ROBOT CONTROL
ROBOTS
DEGREES OF FREEDOM
RATES (PER TIME)
Advisors
Date of Issue
1994-01
Date
Jan 01, 1994
Publisher
NASA
Language
Abstract
The work reported deals with the problem of operating a robot manipulator under a rate control mode while the end effector is not in contact with the external environment, and then switching to a force control mode when contact is made. The paper details how the modal changeover may be accomplished in a manner transparent to the operator, and will allow operator applied forces to be reflected at the robot end effector. A one degree of freedom demonstration system is used to illustrate the concept, which is then applied to a PUMA manipulator. Sample code for the implementation of the control is provided, experimental results show that the optimum setting for the gain is a function of the compliance of the end effector, and the compliance of the external constraint.
Type
Conference Paper
Description
Series/Report No
Department
Organization
Identifiers
NPS Report Number
Sponsors
NASA Johnson Space Center
Funding
Format
Citation
NASA. Johnson Space Center, Seventh Annual Workshop on Space Operations Applications and Research (SOAR 1993), Volume 2; p. p 619-627
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.