Development of an elastic and compliant manipulator to perform contact tasks in hazardous and uncertain environments




Pettinger, Adam Lawrence

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This thesis details the creation of a robotic manipulator to perform complex tasks in a harsh and uncontrolled environment. The manipulator was built from its base level actuator and link components. A wide range of topics were required to bring the manipulator to its final form, and they are discussed in detail in this work. These topics span from low level robotic concepts to high level control theory and include the consideration of the hardware layout, joint-level control loops, filtering sensor data, Cartesian end effector jogging, impedance control, and user interfaces. After the implementation specifics and software design are discussed, demonstrations completed with the manipulator are presented. Included is the design and testing of a passive tool changer created for the motivating project, which is used to validate the overall system


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