This thesis report discusses the design, construction and calibration of two force-torque transducers for use in a force control override of a rate control system. Pre-loaded force sensing resistors were used in a computer model to determine the 6-umber and location of sensors necessary to resolve three forces and three moments. An analysis was conducted on this full order model to determine redundancy limits. A reduced order model was then used to determine the sensor configuration required to resolve three forces and only one moment. Prototypes of the reduced order model were then built in two different sizes, and used to sense and display applied forces and moments

Approved for public release; distribution is unlimited.

http://archive.org/details/fsrbasedforcetor1094527065

Lieutenant, United States Navy