Robust Algorithm for Aquiring and Interpreting Contact Data via Active Robot Expansion

9361481汤森 新一代机器人采用高性能无刷直流电机驱动的高带宽、可反向驱动的传动装置，这为无需额外的力传感器就能改善力数据返回控制器的流程提供了机会。 本研究将开发一种算法，用于确定接触几何形状，作为反馈控制器或遥控操作。 该算法将补充现有的力传感器和摩擦传感器技术，这些技术提供了更高的精度，但限制了系统的响应能力和稳定性。 拟议的研究将编制一套原型力控制任务，确定计算接触力矢量所需的特殊运动学方程，开发接触几何形状的数学和图形表示，确定所需速度的最佳实施算法，并概述第二阶段实验开发的规格。 这项研究的结果将是更快，更灵巧的机器人，比现有的机器人系统传递更多的过程信息。 Adept和Barrett Technology等美国公司在可反向驱动机器人硬件开发方面帮助引领了国际社会。 通过改进控制算法来利用这些硬件改进，美国应该保持其在机器人领域的竞争优势。

9361481 Townsend A new generation of robots with high-bandwidth, backdrivable transmissions driven by high-performance brushless DC motors presents the opportunity for improving the flow of force data back to the controller without additional force sensors. This research will develop an algorithm for determining contact geometry, to be used as feedback to the controller or teleoperator. The algorithm will complement existing force-sensor and tactile-sensor techniques which offer improved accuracy, but otherwise limit the responsiveness and stability of the system. The proposed research will compile a set of prototype force-control tasks, determine the special kinematic equations necessary to calculate contact force vectors, develop a mathematical and graphical representation of the contact geometries, determine the best implementation algorithm for the required speed, and outline specifications for experimental development in Phase II. The result of this research will be faster, more dexterous robots which relay greater information about the process than existing robot systems. US companies, such as Adept and Barrett Technology, have helped lead the international community in backdrivable robotic hardware development. By improving the control algorithms to capitalize on these hardware improvements, the US should retain its competitive lead in this area of robotics.