Accession Number : ADA257631


Title :   Force Override Rate Controller for Remote Actuation


Descriptive Note : Master's thesis,


Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA


Personal Author(s) : Syvertsen, James M


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a257631.pdf


Report Date : Sep 1992


Pagination or Media Count : 79


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 require 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 joint angles may be computed in and algorithm to achieve force replication in the end-effector.


Descriptors :   *ROBOTICS , *MANIPULATORS , *REMOTE CONTROL , ALGORITHMS , CONTROL SYSTEMS , PROTOTYPES , FORCE(MECHANICS) , SCREWS , RESISTORS , TORQUE , TRANSDUCERS , ERRORS , MODELS , ANGLES


Subject Categories : Cybernetics


Distribution Statement : APPROVED FOR PUBLIC RELEASE