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):
Report Date:
1992-09-01
Pagination or Media Count:
79.0
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:
Subject Categories:
- Cybernetics