RIA: Control Sliding and Dextrous Manipulation for Roboticsand Automation

9309823 烤 本研究的目的是探讨并应用柔度末端效应器在滑动与滚动上的操控，并控制滑动。 这些结果对于柔性零件的装配、夹具以及涉及推动和滑动的任务都很重要。 灵巧滑动操作在机器人的运动规划、滑动预测和恢复、物体重新定向和重新抓取中是有用的。 最近的工作，在拉克鲁斯滑动操纵要么集中在平面，准静态运动或采用简化的接触模型，如点接触。 为了实现这一目标，第一步是开发三维动态接触模型的操作。 第二步是将这项研究的结果与现有的研究领域的滚动和非完整操纵。 最后，控制算法将使用具有滑动和滑动操作的顺应性手来实现。 这项研究的结果可以用来控制手指遵循规定的运动轨迹，通过滑动操纵涉及外部和内部的力量，刚度和运动控制。 的结果，当它与非完整操作，可以制定一个完整的解决方案，包括移动的接触位置的机器人操作。 使用滑动和双操作的理论基础开发的控制方案可以应用于自主远程操作和制造自动化，如夹具规划，涉及推动和滑动的任务，以及装配。

9309823 Kao The goal of this research is to investigate and apply dextrous manipulation in sliding and rolling using compliant end-effectors, and to control sliding. The results are important for assembly of compliant parts, fixturing, and tasks involving pushing and sliding. Dextrous sliding manipulation is useful in motion planning, slip prediction and recovery, object re-orienting, and regrasping in robotics. Recent work in dextrous sliding manipulation has either focused on planar, quasistatic motions or employed simplified contact models such as point contact. To accomplish this goal, the first step is to develop three- dimensional dynamic dextrous manipulation with various contact models. The second step is to incorporate the results of this research with existing research in the areas of rolling and nonholonomic manipulation. Finally, the control algorithms will be implemented using compliant hands with sliding and dextrous manipulation. The results of this proposed research can be used to control fingers to follow prescribed motion trajectories via sliding manipulation involving external and internal forces, stiffness, and motion control. The outcome, when it is incorporated with nonholonomic manipulation, can formulate a complete solution to dextrous robotic manipulation that involves shifting of contact locations. The control schemes developed using the theoretical foundation of sliding and dextrous manipulation can be applied in autonomous tele-manipulation and manufacturing automation such as fixturing planning, tasks involving pushing and sliding, and assembly.