Force override rate controller for remote actuation
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Authors
Syvertsen, James Michael
Subjects
Force control
Force sensing resistors
Force sensing resistors
Advisors
Driels, Morris R.
Date of Issue
1992-09
Date
September 1992
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
Many remotely operated robotic manipulator systems are operated in rate control mode to achieve a commanded position and orientation of the end-effector. Performance of certain tasks, such as applying a torque to a screw, would be more efficient if performed in unilateral force control mode. A six axis force-torque model was developed to determine the required number and positioning of sensors and using force sensing resistors, a prototype force-torque transducer was built for testing. Using a force error signal, individual manipulator joint angles may be computed in an algorithm to achieve force replication in the end-effector.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
69 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.