DESIGN AND IMPLEMENTATION OF A COMPLIANCE CONTROLLER FOR THE PA10-7CE SEVEN DEGREE OF FREEDOM DEXTEROUS ROBOT

Bibliographic Details
Main Author:	ADIBHATLA, GAGAN
Language:	English
Published:	University of Cincinnati / OhioLINK 2008
Subjects:	Compliance controller seven degree freedom Spring mass damper servo robot Mitsubishi pa10 impedance
Online Access:	http://rave.ohiolink.edu/etdc/view?acc_num=ucin1195870314

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spelling	ndltd-OhioLink-oai-etd.ohiolink.edu-ucin11958703142021-08-03T06:12:23Z DESIGN AND IMPLEMENTATION OF A COMPLIANCE CONTROLLER FOR THE PA10-7CE SEVEN DEGREE OF FREEDOM DEXTEROUS ROBOT ADIBHATLA, GAGAN Compliance controller seven degree freedom Spring mass damper servo robot Mitsubishi pa10 impedance In many applications, such as spacecraft servicing or automated drilling by a surgical robot, misalignments due to contact can result in excessive stresses at the interface or unwanted motion of the target. To mitigate these effects it is essential that the robotic manipulator incorporate both compliance and energy dissipation. Compliance enables the robotic manipulator to flex under high stresses, thus minimizing the possibility of damage, and the bounce resulting from impulsive loading aids in centring the tool in the desired location on the target. Energy dissipation ensures that the transient motion resulting from contact eventually dies out, allowing finer dexterous manipulation to occur. The objective of this work is to develop and demonstrate an active compliance controller for a dexterous robot, namely, the Mitsubishi PA10-7CE. The compliance controller, which is a type of impedance controller, introduces flexing, bounce, and energy dissipation on contact by controlling the tip velocities by a set of dynamic equations that emulate a spring-mass-damper system in all six degrees of freedom. Experimental results showed that the robot with active compliance control achieved the desired performance. 2008-02-08 English text University of Cincinnati / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=ucin1195870314 http://rave.ohiolink.edu/etdc/view?acc_num=ucin1195870314 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.
collection	NDLTD
language	English
sources	NDLTD
topic	Compliance controller seven degree freedom Spring mass damper servo robot Mitsubishi pa10 impedance
spellingShingle	Compliance controller seven degree freedom Spring mass damper servo robot Mitsubishi pa10 impedance ADIBHATLA, GAGAN DESIGN AND IMPLEMENTATION OF A COMPLIANCE CONTROLLER FOR THE PA10-7CE SEVEN DEGREE OF FREEDOM DEXTEROUS ROBOT
author	ADIBHATLA, GAGAN
author_facet	ADIBHATLA, GAGAN
author_sort	ADIBHATLA, GAGAN
title	DESIGN AND IMPLEMENTATION OF A COMPLIANCE CONTROLLER FOR THE PA10-7CE SEVEN DEGREE OF FREEDOM DEXTEROUS ROBOT
title_short	DESIGN AND IMPLEMENTATION OF A COMPLIANCE CONTROLLER FOR THE PA10-7CE SEVEN DEGREE OF FREEDOM DEXTEROUS ROBOT
title_full	DESIGN AND IMPLEMENTATION OF A COMPLIANCE CONTROLLER FOR THE PA10-7CE SEVEN DEGREE OF FREEDOM DEXTEROUS ROBOT
title_fullStr	DESIGN AND IMPLEMENTATION OF A COMPLIANCE CONTROLLER FOR THE PA10-7CE SEVEN DEGREE OF FREEDOM DEXTEROUS ROBOT
title_full_unstemmed	DESIGN AND IMPLEMENTATION OF A COMPLIANCE CONTROLLER FOR THE PA10-7CE SEVEN DEGREE OF FREEDOM DEXTEROUS ROBOT
title_sort	design and implementation of a compliance controller for the pa10-7ce seven degree of freedom dexterous robot
publisher	University of Cincinnati / OhioLINK
publishDate	2008
url	http://rave.ohiolink.edu/etdc/view?acc_num=ucin1195870314
work_keys_str_mv	AT adibhatlagagan designandimplementationofacompliancecontrollerforthepa107cesevendegreeoffreedomdexterousrobot
_version_	1719432688175153152

DESIGN AND IMPLEMENTATION OF A COMPLIANCE CONTROLLER FOR THE PA10-7CE SEVEN DEGREE OF FREEDOM DEXTEROUS ROBOT

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