Force sensing enhancement of robot system

Kochekali, Homayun (1991) Force sensing enhancement of robot system. PhD thesis, Middlesex Polytechnic.

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At present there is a general industrial need to improve robot performance. Force feedback, which involves sensing and actuation, is one means of improving the relative position between the workpiece and the end-effector.

In this research work various causes of errors and poor robot performance are identified. Several methods of improving the performance of robotic systems are discussed.

As a result of this research, a system was developed which is interposed between the wrist and the gripper of the manipulator. This system integrates a force sensor with a micro-manipulator, via an electronic control unit, with a
micro-computer to enhance a robot system. The force sensor, the micromanipulator and the electronic control unit, were all designed and manufactured at the robotic centre of Middlesex Polytechnic.

The force feedback is provided by means of strain gauges and the associated bridge circuitry. Control algorithms which define the relationship between the force detected and the motion required are implemented in the software. The software is capable of performing two specific tasks in real time, these are:

1- Inserting a peg into a hole
2- Following an unknown geometric path

A rig was designed and manufactured to enable the robot to follow different geometric shapes and paths in which force control was achieved mainly by control of the micro-manipulator.

Item Type: Thesis (PhD)
Research Areas: B. > Theses
Item ID: 13488
Depositing User: Adam Miller
Date Deposited: 16 Jan 2015 14:07
Last Modified: 07 Dec 2018 09:01

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