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dc.contributor.advisorAlberto Rodriguez.en_US
dc.contributor.authorGano, Selamen_US
dc.contributor.otherMassachusetts Institute of Technology. Department of Mechanical Engineering.en_US
dc.date.accessioned2019-01-11T16:05:20Z
dc.date.available2019-01-11T16:05:20Z
dc.date.copyright2018en_US
dc.date.issued2018en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/119957
dc.descriptionThesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.en_US
dc.descriptionCataloged from PDF version of thesis.en_US
dc.descriptionIncludes bibliographical references (page 11).en_US
dc.description.abstractPosition-controlled robotic manipulators remain an industry standard but are ill-suited for guarded move approaches to advanced manipulation. Adding additional feedback with the expectation that a position-controlled system can account for it cannot guarantee successful implementation. To explore and define the limitations of position-controlled arms, I attempt to characterize different motion and force bandwidths of a large, 6-DOF robotic arm. Peak force and motion overshoot measurements were taken at varying speeds of the robot. These experiments showed that at speeds as low as 10 mm/s, the robot still exerted over 40 Newtons of force, enough to crush objects typically used for manipulation tasks. Overcoming these issues in using position-controlled arms are difficult to account for with software approaches, but different mechanical solutions can be envisioned to combat this problem in robotic manipulation.en_US
dc.description.statementofresponsibilityby Selam Gano.en_US
dc.format.extent11 pagesen_US
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsMIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582en_US
dc.subjectMechanical Engineering.en_US
dc.titleCharacterizing reaction bandwidths in a position-controlled robotic armen_US
dc.typeThesisen_US
dc.description.degreeS.B.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineering
dc.identifier.oclc1080343047en_US


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