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Force override rate control for robotic manipulators
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Driels Sr., Morris |
| Copyright Year | 1994 |
| Description | 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. |
| File Size | 464508 |
| Page Count | 12 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19940029159 |
| Archival Resource Key | ark:/13960/t74v1j17d |
| Language | English |
| Publisher Date | 1994-01-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Robot Arms Rates Per Time Degrees of Freedom Robot Control Manipulators End Effectors Robots Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
