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.

Subject Categories:

  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE