A RISC Approach to Sensing and Manipulation

传感和操纵的 RISC 方法

• 批准号: 9319412
• 负责人: John Canny
• 金额: $ 26.08万
• 依托单位: University of California-Berkeley
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1994
• 资助国家: 美国
• 起止时间: 1994-06-15 至 1997-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9319412&HistoricalAwards=false
• 关键词: RISC; Approach; Sensing; Manipulation

9319412 Canny The research addresses continuing exploration of sensing and manipulation strategies for simple robot hardware, in the RISC (Reduced Intricacy in Sensing and Control) paradigm. RISC robotics, advocated by the author and Prof. Ken Goldberg of USC, is an attempt to fuse automation and robotic technologies. It uses traditional automation hardware such as parallel-jaw grippers and optical beam sensors, together with geometric planning and sensing algorithms, to accomplish more cost-effective and reliable operations that are also easy to set up and reconfigure, and flexible enough to support small batch sizes and rapid changes in part design needed in future flexible/agile manufacturing systems. The research will address model-building algorithms for optical beam and other sensors, accurate model acquisition, high-rate recognition, grasping and fixturing with minimal numbers of elements, and automatic design of RISC workcell elements. The effectiveness of the RISC approach will be tested with some challenging case studies, starting with an assembly program for a model-aircraft engine.

小行星9319412 该研究解决了简单的机器人硬件的传感和操作策略的持续探索，在RISC（减少复杂性的传感和控制）范式。 RISC机器人技术由作者和南加州大学的Ken Goldberg教授倡导，是融合自动化和机器人技术的一种尝试。 它使用传统的自动化硬件，如平行颚夹持器和光束传感器，以及几何规划和传感算法，以实现更具成本效益和可靠的操作，也易于设置和重新配置，并具有足够的灵活性，以支持未来灵活/敏捷制造系统所需的小批量和零件设计的快速变化。 该研究将解决光束和其他传感器的建模算法，精确的模型获取，高速率识别，以最少数量的元件进行抓取和固定，以及RISC工作单元元件的自动设计。 RISC方法的有效性将通过一些具有挑战性的案例研究进行测试，从模型飞机发动机的装配程序开始。