Robots doing a cooperative insertion of a flexible object

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.

Critical Technologies

  • Hierarchical control of cooperative manipulators.
  • Object-based task-level control.
  • Robot control in the present of joint flexibility.
  • Non-linear feedback.

Experimental Platforms

  • 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 20:54