Three axis force override rate control of a PUMA 560 manipulator
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Authors
Ondrey, Larry P.
Subjects
Force control
Robot control
Robot control
Advisors
Driels, Morris R.
Date of Issue
1993-03
Date
March 1993
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
This paper discusses the implementation of unilateral force override of rate control of a PUMA 560 robot manipulator in three degrees of freedom. A control system is developed utilizing the necessary sensors, hardware, and software interface to enable one to operate the manipulator in rate control with unilateral force control override. A review of the theory behind such a controller is conducted and stability issues addressed. A comparison of experimental results with the theoretical results is conducted and a simple program is developed to simulate the manipulator's response. These simulation results are compared to the experimental data.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
113 p.
Citation
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.