Totally Cooperating Manipulator Summary
To date, the use of robots within the manufacturing environment has been limited to non-contact type applications such as spray-painting, welding and inspection. To extend their use, robots need to be able to identify, acquire and manipulate objects with care and precision. To achieve precise object manipulation, two-arm cooperation and force sensing are essential. Equally important is the development of control techniques that are robust to practical-system issues such as motor cogging, joint flexibility, etc. To study the problem of cooperative manipulation, the ARL has developed a state-of-the-art facility.
- Hierarchical control of cooperative manipulators.
- Object-based task-level control.
- Robot control in the present of joint flexibility.
- Non-linear feedback.
- Two two-degree-of-freedom SCARA-type manipulators with endpoint force sensors and a vision system.
- Two four-degree-of-freedom SCARA-type manipulators with end-point position sensors, end-point force sensors, joint encoders, torque sensors, and a vision system. These robots exhibit exaggerated joint flexibility.
Last modified Mon, 1 Nov, 2010 at 19:54