File:Three Degrees of Freedom Compliant Motion Control for Robotic Aircraft Refueling. (IA threedegreesoffr1094527546).pdf
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[edit]Three Degrees of Freedom Compliant Motion Control for Robotic Aircraft Refueling.
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| Author |
Andersen, Clayton M. |
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| Title |
Three Degrees of Freedom Compliant Motion Control for Robotic Aircraft Refueling. |
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| Description |
The Air Force Institute of Technology (AFIT) supports on-going research in application of robotic technology to enhance assembly tasks. As a testbed, AFIT supports the ground-based aerial refueling project, with an emphasis on visual servoing techniques and compliant motion control. This thesis focuses on compliant motion control. Previous research developed the testing environment, which includes a PUMA-560 industrial manipulator, and a half scale mock-up of an aerial refueling system. This effort corrected and expanded the existing two degree of freedom (DOF) compliant controller to three DOF. Three DOF compliance was demonstrated by inserting the refueling nozzle into the receiver port. Tuning, carried out by adjusting desired model variables, characterized the impedance controller to function over a wide range of desired dynamics. In addition, irregular force and velocity torque profiles were attenuated through basic filtering schemes, providing an environment in which friction compensation was tested. Finally, preliminary studies into faster trajectories provide impetus for further study in the area of high speed compliant assembly. The three DOF compliant controller combined with the visual servoing techniques, provides a strong environment to test and evaluate robotic technologies for constrained motion assembly tasks. Subjects: |
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| Language | English | |
| Publication date | December 1990 | |
| Current location |
IA Collections: navalpostgraduateschoollibrary; fedlink |
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| Accession number |
threedegreesoffr1094527546 |
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| Permission (Reusing this file) |
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This work is in the public domain in the United States because it is a work prepared by an officer or employee of the United States Government as part of that person’s official duties under the terms of Title 17, Chapter 1, Section 105 of the US Code.
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| This file has been identified as being free of known restrictions under copyright law, including all related and neighboring rights. | ||
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| current | 07:04, 10 July 2020 |  | 1,275 × 1,650, 95 pages (3.36 MB) | Fæ (talk | contribs) | FEDLINK - United States Federal Collection threedegreesoffr1094527546 (User talk:Fæ/IA books#Fork8) (batch 1990-1992 #7307) |
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