Force Override Rate Controller for Remote Actuation

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.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1992
Accession Number
ADA257631

Entities

People

  • James M. Syvertsen

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • Calibration
  • Classification
  • Control Systems
  • Coordinate Systems
  • Elimination
  • Engineering
  • Equations
  • Errors
  • Kinematics
  • Mechanical Engineering
  • Schools
  • Simulations
  • Strain Gages
  • Transducers
  • United States
  • United States Naval Academy

Fields of Study

  • Engineering

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy