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Theory and implementation of the naturally transitioning rate-to-force controller including force reflection using kinematically dissimilar master/slave devices

Henry, Jason Matthew

Abstract Details

1999, Master of Science (MS), Ohio University, Mechanical Engineering (Engineering).

Rate control can be an effective manner of teleoperation because it allows for large movements of the slave with small movements of the master, but the problem is when the manipulator contacts the environment unacceptably large contact forces result from the integration of the joint angles. This problem can be solved by the inclusion of an active force controller (called Force/Moment Accommodation (FMA)) in the resolved rate scheme, which is enabled by a force/torque sensor used to measure environmental contact forces. The combination of rate control and FMA enabled on all axis at all times has been deemed the Naturally Transitioning Rate-to-Force Controller (NTRFC) because there are no switches (logical or hardware) required to make the transition from free to constrained motion. This thesis provides a design procedure for determination of all the gains required, and it presents the results of an experiment that compare four control methods during a teleoperation peg in the hole task. The results showed the following order from best to worst based on task completion time and the sum of the forces and moments in all directions: NTRFC with Force Reflection, NTRFC, Rate Control with Force Reflection, and Pure Rate Control. The NTRFC was proven to reduce the average maximum force and moment, and the average duration of contact with the environment. Force reflection was proven to aid the operator by improving the sense of telepresence.

Robert Williams, II (Advisor)
127 p.

Recommended Citations

Citations

  • Henry, J. M. (1999). Theory and implementation of the naturally transitioning rate-to-force controller including force reflection using kinematically dissimilar master/slave devices [Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1175879099

    APA Style (7th edition)

  • Henry, Jason. Theory and implementation of the naturally transitioning rate-to-force controller including force reflection using kinematically dissimilar master/slave devices. 1999. Ohio University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1175879099.

    MLA Style (8th edition)

  • Henry, Jason. "Theory and implementation of the naturally transitioning rate-to-force controller including force reflection using kinematically dissimilar master/slave devices." Master's thesis, Ohio University, 1999. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1175879099

    Chicago Manual of Style (17th edition)