Force override rate control for robotic manipulators
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The work reported deals with the problem of operating a robot manipulator under a rate control mode while the end effector is not in contact with the external environment, and then switching to a force control mode when contact is made. The paper details how the modal changeover may be accomplished in a manner transparent to the operator, and will allow operator applied forces to be reflected at the robot end effector. A one degree of freedom demonstration system is used to illustrate the concept, which is then applied to a PUMA manipulator. Sample code for the implementation of the control is provided, experimental results show that the optimum setting for the gain is a function of the compliance of the end effector, and the compliance of the external constraint.
RightsThis 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.
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Turkgenci, Yavuz (Monterey, California. Naval Postgraduate School, 1991-06);Adaptive compliance control of a robotic single joint was studied to control the amount of torque applied on an object by an end effector, which is actuated by an electric motor through a gearbox. For this reason, an ...
Syvertsen, James Michael (Monterey, California. Naval Postgraduate School, 1992-09);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, ...
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