Characterizing reaction bandwidths in a position-controlled robotic arm
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018. === Cataloged from PDF version of thesis. === Includes bibliographical references (page 11). === Position-controlled robotic manipulators remain an industry standard but are ill-suited for guarded move a...
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ndltd-MIT-oai-dspace.mit.edu-1721.1-1199572019-05-02T15:35:35Z Characterizing reaction bandwidths in a position-controlled robotic arm Gano, Selam Alberto Rodriguez. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering. Mechanical Engineering. Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018. Cataloged from PDF version of thesis. Includes bibliographical references (page 11). Position-controlled robotic manipulators remain an industry standard but are ill-suited for guarded move approaches to advanced manipulation. Adding additional feedback with the expectation that a position-controlled system can account for it cannot guarantee successful implementation. To explore and define the limitations of position-controlled arms, I attempt to characterize different motion and force bandwidths of a large, 6-DOF robotic arm. Peak force and motion overshoot measurements were taken at varying speeds of the robot. These experiments showed that at speeds as low as 10 mm/s, the robot still exerted over 40 Newtons of force, enough to crush objects typically used for manipulation tasks. Overcoming these issues in using position-controlled arms are difficult to account for with software approaches, but different mechanical solutions can be envisioned to combat this problem in robotic manipulation. by Selam Gano. S.B. 2019-01-11T16:05:20Z 2019-01-11T16:05:20Z 2018 2018 Thesis http://hdl.handle.net/1721.1/119957 1080343047 eng MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission. http://dspace.mit.edu/handle/1721.1/7582 11 pages application/pdf Massachusetts Institute of Technology |
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Mechanical Engineering. Gano, Selam Characterizing reaction bandwidths in a position-controlled robotic arm |
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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018. === Cataloged from PDF version of thesis. === Includes bibliographical references (page 11). === Position-controlled robotic manipulators remain an industry standard but are ill-suited for guarded move approaches to advanced manipulation. Adding additional feedback with the expectation that a position-controlled system can account for it cannot guarantee successful implementation. To explore and define the limitations of position-controlled arms, I attempt to characterize different motion and force bandwidths of a large, 6-DOF robotic arm. Peak force and motion overshoot measurements were taken at varying speeds of the robot. These experiments showed that at speeds as low as 10 mm/s, the robot still exerted over 40 Newtons of force, enough to crush objects typically used for manipulation tasks. Overcoming these issues in using position-controlled arms are difficult to account for with software approaches, but different mechanical solutions can be envisioned to combat this problem in robotic manipulation. === by Selam Gano. === S.B. |
author2 |
Alberto Rodriguez. |
author_facet |
Alberto Rodriguez. Gano, Selam |
author |
Gano, Selam |
author_sort |
Gano, Selam |
title |
Characterizing reaction bandwidths in a position-controlled robotic arm |
title_short |
Characterizing reaction bandwidths in a position-controlled robotic arm |
title_full |
Characterizing reaction bandwidths in a position-controlled robotic arm |
title_fullStr |
Characterizing reaction bandwidths in a position-controlled robotic arm |
title_full_unstemmed |
Characterizing reaction bandwidths in a position-controlled robotic arm |
title_sort |
characterizing reaction bandwidths in a position-controlled robotic arm |
publisher |
Massachusetts Institute of Technology |
publishDate |
2019 |
url |
http://hdl.handle.net/1721.1/119957 |
work_keys_str_mv |
AT ganoselam characterizingreactionbandwidthsinapositioncontrolledroboticarm |
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1719024182670393344 |