Position accommodation and compliance control for robotic excavation.
Published: 2006
Language: eng
Number of pages: 88
ISBN-13: 9780494160619
Subjects: Robots -- Control systems.; Excavation -- Automation.; Manipulators (Mechanism) -- Automatic control.
Description: Robotic manipulation in a remote environment places a premium on the autonomy and reliability of the robot control system. A robotic excavator must be able to accept high-level operator commands and perform the excavation task without additional external input. An excavation robot must also be able to operate in all three states of manipulator motion: free-space, contact and exertion of a force against an environment. A position-accommodation control scheme allows the robot to effectively operate in all three states and transition smoothly between states. This study outlines the various models used to predict soil-tool interaction forces, as well as how soil changes under excavation various conditions. Excavation simulations compare the performance of a position controlled robot and a compliance controlled robot using position accommodation. Common excavation trajectories are used in the simulations.
Notes: Source: Masters Abstracts International, Volume: 44-06, page: 2869.

Thesis (M.A.Sc.)--University of Toronto, 2006.

Includes bibliographical references.

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