Three axis force override rate control of a PUMA 560 manipulator
Ondrey, Larry P.
Driels, Morris R.
MetadataShow full item record
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.
Approved for public release; distribution is unlimited.
Showing items related by title, author, creator and subject.
Virgili-Llop, Josep; Drew, Jerry V.; Zappulla, Richard, II; Romano, Marcello (Elsevier, 2017);A set of laboratory experiments are conducted to demonstrate the autonomous capture of a simulated resident space object by a simulated spacecraft equipped with a robotic manipulator. A planar air-bearing test bed provides ...
Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments Virgili-Llop, Josep; Drew, Jerry V.; Zappulla, Richard II; Romano, Marcello (2016-09);This paper describes a set of laboratory-based experiments, which demonstrate the autonomous capture of a non-moving resident space object by a spacecraft equipped with a single robotic manipulator. An air bearing test bed ...
Sorensen, Dennis R. (Monterey, California. Naval Postgraduate School, 1992-09);The Flexible Spacecraft Simulator (FSS) at the Naval Postgraduate School was modified by replacing the flexible appendage with a two link robotic manipulator. This experimental setup was designed to simulate motion of a ...