Three Axis Force Override Rate Control of a PUMA 560 Manipulator

reportActive / Technical Report | Accession Number: ADA267313 | Open PDF

Abstract:

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 manipulators response. These simulation results are compared to the experimental data.... Force control, Robot control

Author(s):
Ondrey, Larry P.
Author Organization(s):
NAVAL POSTGRADUATE SCHOOL MONTEREY CA
Descriptive Note:
Master's thesis,
Pagination:
0126

Security Markings

DOCUMENT & CONTEXTUAL SUMMARY

Distribution:
Approved For Public Release
Distribution Statement:
Approved For Public Release; Distribution Is Unlimited.

RECORD

Collection: TR
Identifying Numbers
Monitor Series:
NPS
 Subject Terms
Joint Capability Areas:
JCA_5_Command and Control; JCA_1_Force Support; JCA_1.2_Force Preparation; JCA_5.3_Planning; JCA_5.3.1_Analyze Problem; JCA_4.6_Engineering; JCA_4.6.1_General Engineering; JCA_6.1.1_Wired Transmission; JCA_6.1.3_Switching and Routing; JCA_5.5.2_Task; JCA_5.5_Direct; JCA_6.1_Information Transport; JCA_6_Net Centric; JCA_1.3_Human Capital Management; JCA_1.3.2_Personnel Management; JCA_4.3_Maintain; JCA_1.2.6_Concepts; JCA_1.2.5_Lessons Learned; JCA_3.2_Engagement; JCA_3_Force Application; JCA_5.2.2_Develop Knowledge and Situational Awareness
Modernization Areas:
Space; Microelectronics
Communities of Interest:
Space
Descriptor(s):
*ROBOTS, *MANIPULATORS, SIMULATION, STABILITY, EXPERIMENTAL DATA, CONTROL SYSTEMS, THESES, RESPONSE, DEGREES OF FREEDOM, RATES, INTERFACES, COMPARISON, THEORY
Field(s)/Group(s):
Cybernetics
Report Date:
1993 Mar 01