End-Point Control of Flexible Robots.

摘要

This documents reports on progress to significantly increase the speed and precision of performing slew and touch tasks for a flexible robot arm, and to develop a universal robot end effector, capable of performing generic manipulation functions. Our research concerns key technologies for new classes of robots capable of assembly with force control and great dexterity. End-point control is achieved for a very flexible arm, and have demonstrated fast-slew-and-touch motions and the ability to maintain controlled forces at the arm tip using tip-force sensing to control shoulder torques. Some of the improvements made to this technology will be necessary for transferring it to designers of operational robots. Next, this force-control and force-and-slew capability is extended to a very flexible arm with a quick-wrist link at its end. A three finger hand, has been built capable of great dexterity. Designed is a hierarchical force control system for the hand, with three levels, hand level coupling three fingers, finger level coupling four tendons, and tendon tension level. Finger level and tendon tension control were implemented and demonstrated. An analysis was made of rolling objects between fingers. A program was implemented and it was demonstrated rolling an egg between two fingers using a relatively general method for object reorienting. (JHD)