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<p>This paper discusses the implementation of unilateral force override of rate control of a PUMA 560 robot manipulator in three degrees of freedom. A control system is developed utilizing the necessary sensors, hardware, and software interface to enable one to operate the manipulator in rate control with unilateral force control override. A review of the theory behind such a controller is conducted and stability issues addressed. A comparison of experimental results with the theoretical results is conducted and a simple program is developed to simulate the manipulator's response. These simulation results are compared to the experimental data.
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<br>Subjects: Force control; Robot control</div>
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Ondrey, Larry P.</div>
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