Force Override Rate Controller for Remote Actuation

摘要

Many remotely operated robotic manipulator systems are operated in rate controlmode 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.