Three Axis Force Override Rate Control of a PUMA 560 Manipulator

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 manipulator's response. These simulation results are compared to the experimental data.... Force control, Robot control

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1993
Accession Number
ADA267313

Entities

People

  • Larry P. Ondrey

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Space

DTIC Thesaurus Topics

  • Acquisition
  • Computer Programming
  • Computers
  • Control Systems
  • Data Acquisition
  • Engineering
  • Impedance
  • Mechanical Engineering
  • Mechanics
  • New York
  • Operating Systems
  • Programming Languages
  • Resonant Frequency
  • Schools
  • Simulations
  • United States
  • United States Naval Academy

Fields of Study

  • Engineering

Readers

  • Robotics and Automation.

Technology Areas

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