Theses and Dissertations from UMD

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New submissions to the thesis/dissertation collections are added automatically as they are received from the Graduate School. Currently, the Graduate School deposits all theses and dissertations from a given semester after the official graduation date. This means that there may be up to a 4 month delay in the appearance of a give thesis/dissertation in DRUM

More information is available at Theses and Dissertations at University of Maryland Libraries.

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Author: search.filters.author.Aksman, Leon MichaelSubject: search.filters.subject.Engineering, Aerospace

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    Force Estimation Based Compliance Control of a Two Link Harmonically Driven Robotic Manipulator
    (2006-12-12) Aksman, Leon Michael; Akin, David L; Aerospace Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    The estimation of external forces exerted on a robotic manipulator with harmonic drive gearing without a force/torque sensor is considered. Manipulator dynamics, together with motor current feedback are used to estimate external joint torques, which are transformed into estimated external end effector forces using knowledge of the manipulator's kinematics. Adaptive control is used to tune the parameters of the robot's modeled dynamics, while adaptive radial basis function (RBF) neural networks are used to learn the friction dynamics. Admittance control without force sensing is attempted on a two degree of freedom manipulator. Readings from a six-axis force/torque sensor mounted on the manipulator are used to validate the force estimates during the estimation phase.