{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/119957"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/119957","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Characterizing reaction bandwidths in a position-controlled robotic arm","abstract":"Position-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.","abstract_html":"Position-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.","abstract_has_math":false,"creators":["Gano, Selam"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Department of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Alberto Rodriguez."],"committee_chairs":[],"committee_members":[],"year":2018,"date_issued":"2018","date_published":"2018","updated_at":"2026-07-22T22:20:48Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["MIT theses are protected by copyright. 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