Three Axis Force Override Rate Control of a PUMA 560 Manipulator

摘要

This paper discusses the implementation of unilateral force override of ratecontrol 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.