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.


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    Title :

    Force override rate control for robotic manipulators


    Contributors:


    Publication date :

    1994-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




    Force Override Rate Control for Robotic Manipulators

    United States; National Aeronautics and Space Administration / United States; Air Force | British Library Conference Proceedings | 1993


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