Graduate Thesis Or Dissertation

 

Passive dynamics and their influence on performance of physical interaction tasks Public Deposited

Downloadable Content

Download PDF
https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/hd76s3128

Descriptions

Attribute NameValues
Creator
Abstract
  • For robotic manipulation tasks in uncertain environments, research typically revolves around developing the best possible software control strategy. However, the passive dynamics of the mechanical system, including inertia, stiffness, damping and torque limits, often impose performance limitations that cannot be overcome with software control. Discussions about the passive dynamics are often imprecise, lacking comprehensive details about the physical limitations. In the first half of this paper, we develop relationships between an actuator's passive dynamics and the resulting performance, to better understanding how to tune the passive dynamics. We characterize constant-contact physical interaction tasks into two different tasks that can be roughly approximated as force control and position control and calculate the required input to produce a desired output. These exact solutions provide a basis for understanding how the parameters of the mechanical system affect the overall system's bandwidth limit without limitations of a specific control algorithm. We then present our experimental results compared to the analytical prediction for each task using a bench top actuator. Our analytical and experimental results show what, until now, has only been intuitively understood: soft systems are better at force control, stiff systems are better at position control, and there is no way to optimize an actuator for both tasks.
License
Resource Type
Date Available
Date Issued
Degree Level
Degree Name
Degree Field
Degree Grantor
Commencement Year
Advisor
Committee Member
Academic Affiliation
Non-Academic Affiliation
Subject
Rights Statement
Publisher
Peer Reviewed
Language
Replaces
Additional Information
  • description.provenance : Approved for entry into archive by Julie Kurtz(julie.kurtz@oregonstate.edu) on 2012-06-09T20:36:02Z (GMT) No. of bitstreams: 3 kemper_ms_thesis.pdf: 1992668 bytes, checksum: df8a2730a4bc36ec07d93e9f2bc6376f (MD5) license_rdf: 23457 bytes, checksum: 4a5c7b919ee3cd4f4b33a0bb0951de6b (MD5) license_text: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5)
  • description.provenance : Approved for entry into archive by Laura Wilson(laura.wilson@oregonstate.edu) on 2012-06-11T17:09:40Z (GMT) No. of bitstreams: 3 kemper_ms_thesis.pdf: 1992668 bytes, checksum: df8a2730a4bc36ec07d93e9f2bc6376f (MD5) license_rdf: 23457 bytes, checksum: 4a5c7b919ee3cd4f4b33a0bb0951de6b (MD5) license_text: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5)
  • description.provenance : Submitted by Kevin Kemper II (kemperke@onid.orst.edu) on 2012-06-07T19:00:06Z No. of bitstreams: 3 kemper_ms_thesis.pdf: 1992668 bytes, checksum: df8a2730a4bc36ec07d93e9f2bc6376f (MD5) license_rdf: 23457 bytes, checksum: 4a5c7b919ee3cd4f4b33a0bb0951de6b (MD5) license_text: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5)
  • description.provenance : Made available in DSpace on 2012-06-11T17:09:40Z (GMT). No. of bitstreams: 3 kemper_ms_thesis.pdf: 1992668 bytes, checksum: df8a2730a4bc36ec07d93e9f2bc6376f (MD5) license_rdf: 23457 bytes, checksum: 4a5c7b919ee3cd4f4b33a0bb0951de6b (MD5) license_text: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Previous issue date: 2012-03-19

Relationships

Parents:

This work has no parents.

In Collection:

Items