Force Estimation Based Compliance Control of a Two Link Harmonically Driven Robotic Manipulator

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dc.contributor.advisorAkin, David Len_US
dc.contributor.authorAksman, Leon Michaelen_US
dc.contributor.departmentAerospace Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2007-02-01T20:24:17Z
dc.date.available2007-02-01T20:24:17Z
dc.date.issued2006-12-12en_US
dc.description.abstractThe 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.en_US
dc.format.extent1645763 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/4242
dc.language.isoen_US
dc.subject.pqcontrolledEngineering, Aerospaceen_US
dc.subject.pqcontrolledEngineering, Aerospaceen_US
dc.titleForce Estimation Based Compliance Control of a Two Link Harmonically Driven Robotic Manipulatoren_US
dc.typeThesisen_US

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