Three axis force override rate control of a PUMA 560 manipulator
| dc.contributor.advisor | Driels, Morris R. | |
| dc.contributor.author | Ondrey, Larry P. | |
| dc.contributor.corporate | Naval Postgraduate School (U.S.) | |
| dc.contributor.department | Mechanical Engineering | |
| dc.date | March 1993 | |
| dc.date.accessioned | 2014-03-26T23:23:41Z | |
| dc.date.available | 2014-03-26T23:23:41Z | |
| dc.date.issued | 1993-03 | |
| dc.description.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. | en_US |
| dc.description.distributionstatement | Approved for public release; distribution is unlimited. | |
| dc.description.service | Lieutenant, United States Navy | en_US |
| dc.description.uri | http://archive.org/details/threexisforceove1094539882 | |
| dc.format.extent | 113 p. | en_US |
| dc.identifier.uri | https://hdl.handle.net/10945/39882 | |
| dc.language.iso | en_US | |
| dc.publisher | Monterey, California. Naval Postgraduate School | en_US |
| dc.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. | en_US |
| dc.subject.author | Force control | en_US |
| dc.subject.author | Robot control | en_US |
| dc.title | Three axis force override rate control of a PUMA 560 manipulator | en_US |
| dc.type | Thesis | en_US |
| dspace.entity.type | Publication | |
| etd.thesisdegree.discipline | Mechanical Engineering | en_US |
| etd.thesisdegree.grantor | Naval Postgraduate School | en_US |
| etd.thesisdegree.level | Masters | en_US |
| etd.thesisdegree.name | M.S. in Mechanical Engineering | en_US |
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