Abstract/Details

GRIPPER-BASED POSITION/FORCE SENSOR DESIGN AND ROBOT HAND MOTION CONTROL DURING ASSEMBLY (EMPLOYMENT, PLATE THEORY, MATING ANALYSIS, CONTROL ALGORITHMS, PART)


1985 1985

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Abstract (summary)

A gripper-based position/force sensor is designed to determine the position, distribution and magnitude of the load applied by the object on the sensor. Three forces and three moments are also measured.

Theory of plates is employed to solve the inverse problem in elasticity with specific applications to position/force sensor design. Analytical and numerical methods for solving the inverse problem are presented. The term "Inverse problem" used here implies the determination of position, distribution, and magnitude of the load applied by the object on the sensor, if strains are measured at several locations in a structure. The inverse solutions obtained analytically and numerically are compared with exact solutions.

In order to develop control algorithms for robot hand motion, the geometric relationship and part mating force between object and hole during insertion are investigated. A controller is proposed in contrast to the existing hybrid position/force controller.

Indexing (details)


Subject
Mechanical engineering
Classification
0548: Mechanical engineering
Identifier / keyword
Applied sciences
Title
GRIPPER-BASED POSITION/FORCE SENSOR DESIGN AND ROBOT HAND MOTION CONTROL DURING ASSEMBLY (EMPLOYMENT, PLATE THEORY, MATING ANALYSIS, CONTROL ALGORITHMS, PART)
Author
LIN, PONAIN
Number of pages
176
Publication year
1985
Degree date
1985
School code
0186
Source
DAI-B 47/03, Dissertation Abstracts International
Place of publication
Ann Arbor
Country of publication
United States
University/institution
University of Rhode Island
University location
United States -- Rhode Island
Degree
Ph.D.
Source type
Dissertations & Theses
Language
English
Document type
Dissertation/Thesis
Dissertation/thesis number
8609888
ProQuest document ID
303413158
Copyright
Database copyright ProQuest LLC; ProQuest does not claim copyright in the individual underlying works.
Document URL
http://search.proquest.com/docview/303413158
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