2001 ieee/asme international Conference on
- Navigate this page:
- Position/Force Control of an Arm/Gripper System for Space Manipulation
- Synthesis of Impedance Control for Complex Co-operating Robot Assembly Task
A Motion Base with 6 Degrees of Freedom by Parallel Cable Drive ArchitectureSatoshi Tadokoro, Rie Murata, Toshiyuki Matsushima, Kobe University, Yoshio Murao, Hideaki Kohkawa, Taiyo Ltd., Japan, Manfred Hiller, Gerhard-Mercator-Universität Duisburg, Germany This paper proposes a new type of motion base for virtual sensation of acceleration. Its architecture is the parallel cable-driven mechanism. It expresses outstanding advantages in comparison with conventional Stewart plarform architecture especially on duration of virtual acceleration sensation. Optimal mechanism design is performed from the viewpoint of kinematics. Simulation results show that the WARP mechanism consisting of 3-3-2 cable configuration is one of the best designs as a motion base. The prototype developed has the maximum motion range of translation +-0.45m x +-0.4m x 1.1m and of rotation +-45 deg in roll angle … | |||||||
Position/Force Control of an Arm/Gripper System for Space ManipulationL. Biagiotti, C. Melchiorri, G. Vassura, Università di Bologna, Italy In advanced robotics applications,as those foreseen in space,some degree of dexterity and autonomy is necessary in order execute tasks in unstructured environments.For this purpose besides the kinematic con .guration of the device other basic issues are the sensorial equipment and proper control trategies. This paper present an experimental activity for the validation of a robotic gripper for space applications. In particular the project foresees the compatibility of the gripper with the EUROPA arm,developed by ASI and Tecnospazio. Main key points of the gripper design are the wide working pace compared with its physical dimensions and the capability to deal with free-flying objects in no-gravity conditions.This capability i achieved by using proximity and force/torque ensor and by properly … | 16:10―16:30 | Adaptive Image Servo Controller for Robot-assisted Diagnostic UltrasoundP. Abolmaesumi, M.R. Sirouspour, S.E. Salcudean, W.H. Zhu, University of British Columbia, Canada A robot-assisted system for medical diagnostic ultrasound has been developed by the authors. An ultrasound image servo controller has already been proposed and implemented in [1, 2] to automatically compensate, through robot motions, unwanted motions in the plane of the ultrasound beam. This paper presents an adaptive image servo controller to enhance the performance of the ultrasound image servo controller. To increase safety, the control is shared between the operator and the image controller. The stability and accuracy of the system is illustrated through different experiments. | |||||
Synthesis of Impedance Control for Complex Co-operating Robot Assembly TaskDragoljub Surdilovic, IPK, Germany, Francesco Grassini, Maurizio De Bartolomei, Tecnospazio SpA, Italy This paper describes the algorithms for the synthesis of the impedance control in industrial robots at servo and higher motion planning and programming control levels. These algorithms are realized in the SPARCO control system, providing a powerful impedance control framework for executing various contact tasks with industrial robots. For new contact tasks, the SPARCO provides the possibility to adjust the impedance control gain to the specific robot and control task (environment), as well as to combine elemental commands and high-level contact control actions in order to program a new robot application. The paper describes an automatic procedure for the reliable robust impedance control design ensuring … | 16:30―16:50 | Force Detectable Surface Covers for Humanoid RobotsHiroyasu Iwata, Hayato Hoshino, Toshio Morita, Shigeki Sugano, Waseda University, Japan In this paper, we herein describe force detectable surface covers for humanoid robots to realize naturally physical interaction with humans. The covers can detect various tactile and force information, such as accurate external force vector and contact positions, from a widely range of the robot body surface. First, a basic surface cover structure composed of a force-torque sensor and several touch sensors is proposed. Next, we present a design method to implement such a cover structure onto dual arms of an actual humanoid robot. Finally, from basic experiments for verifying the characteristics of the proposed force-detectable surface cover systems, it was confirmed that high measurement accuracy of a contact position and force vector is accomplished. In addition, from an application … | |||||
Download 0.91 Mb.
Share with your friends:
