Engineering topics

Volpe, Richard

Publications and source records attributed to Volpe, Richard.

20 records · Page 2

NASA NTRS1992

An experimental evaluation and comparison of explicit force control strategies for robotic manipulator

The authors present an experimental evaluation and comparison of basic strategies that have been proposed for force control of robot manipulators. This experimental review of force control methodologies is unique in its breadth. The commonality amongst the experiments has permitted the ability to objectively compare and contrast these strategies, and draw conclusions about the efficacy of each. The results support previous analysis and show the superiority of integral force control for force trajectory tracking.

Volpe, Richard↗

NASA NTRS1989

Real-time edge tracking using a tactile sensor

Object recognition through the use of input from multiple sensors is an important aspect of an autonomous manipulation system. In tactile object recognition, it is necessary to determine the location and orientation of object edges and surfaces. A controller is proposed that utilizes a tactile sensor in the feedback loop of a manipulator to track along edges. In the control system, the data from the tactile sensor is first processed to find edges. The parameters of these edges are then used to generate a control signal to a hybrid controller. Theory is presented for tactile edge detection and an edge tracking controller. In addition, experimental verification of the edge tracking controller is presented.

Berger, Alan D.↗