Force override rate controller for remote actuation
Syvertsen, James Michael
Driels, Morris R.
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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.
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