RIA: Control Sliding and Dextrous Manipulation for Roboticsand Automation

[309823] Kao本研究的目的是研究和应用柔性末端执行器在滑动和滚动中的灵巧操作，并控制滑动。结果是重要的装配柔性零件，夹具和任务涉及推和滑动。灵活的滑动操作在机器人运动规划、滑动预测和恢复、物体重新定向和再抓取方面是有用的。最近在灵巧滑动操作方面的工作要么集中在平面，准静态运动，要么采用简化的接触模型，如点接触。为了实现这一目标，第一步是开发具有各种接触模型的三维动态灵巧操作。第二步是将本研究的结果与滚动和非完整操纵领域的现有研究相结合。最后，控制算法将使用具有滑动和灵巧操作的柔性手来实现。这项研究的结果可以用来控制手指按照规定的运动轨迹，通过滑动操作涉及到外部和内部的力量，刚度和运动控制。结果，当它与非完整操作相结合时，可以制定一个完整的解决方案，以灵巧的机器人操作，包括接触位置的移动。利用滑动和灵巧操纵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、涉及推滑和装配的任务。

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.