Challenges in CISE: Planning and Control for Massively Parallel Manipulation
CISE 的挑战:大规模并行操作的规划和控制
基本信息
- 批准号:9726389
- 负责人:
- 金额:$ 136.62万
- 依托单位:
- 依托单位国家:美国
- 项目类别:Continuing Grant
- 财政年份:1997
- 资助国家:美国
- 起止时间:1997-09-15 至 2001-08-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
9726389 Goldberg, Kenneth University of California-Berkeley Challenges in CISE: Planning and Control for Massively Parallel Manipulation Increased miniaturization of mass-produced products such as disk drives, displays, and sensors requires fundamental innovations in design and parts handling. Many of the components in these products will be integrated circuits and MEMS (Micro Electro Mechanical Systems) fabricated with massively parallel wafer etching technology. Conventional pick and place robotic techniques are inadequate for the efficient assembly of these micron-scale components. This proposal addresses an entirely new methodology founded on recent insights from sensorless and minimalist robotics: massively parallel manipulation. The idea is to move parts using planar forces and moments that require a minimum of sensing and servoing. The shape of the field, as defined by the magnitude and direction of the force at each point, can be designed to position, align, sort, and assemble arrays of small parts in parallel. Planar force fields have enormous potential for precise parallel assembly of small parts. The goal of the research is to develop an entirely new methodology for precision part manipulation and to demonstrate it with new theory, algorithms, and high-performance devices. This research has the potential to parallelize the manufacture of a new generation of consumer and industrial products.
CISE的挑战:大规模并行操作的规划和控制大规模生产产品(如磁盘驱动器,显示器和传感器)的小型化要求在设计和零件处理方面进行根本性的创新。这些产品中的许多组件将是集成电路和MEMS(微电子机械系统),采用大规模并行晶圆蚀刻技术制造。传统的拾取和放置机器人技术不足以有效地组装这些微米级组件。该提案提出了一种全新的方法,该方法基于最近无传感器和极简机器人的见解:大规模并行操作。这个想法是使用平面力和力矩来移动部件,这需要最小的传感和伺服。由每个点上的力的大小和方向所定义的场的形状,可以设计成平行的小部件阵列的定位、排列、排序和组装。平面力场对小零件的精确平行装配具有巨大的潜力。该研究的目标是开发一种全新的精密零件操作方法,并通过新的理论、算法和高性能设备来证明它。这项研究有可能使新一代消费品和工业产品的生产并行化。
项目成果
期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
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Ken Goldberg其他文献
Networked Robots
网络机器人
- DOI:
10.1007/978-3-319-32552-1_44 - 发表时间:
2016 - 期刊:
- 影响因子:0
- 作者:
Dezhen Song;Ken Goldberg;N. Chong - 通讯作者:
N. Chong
Estimating Throughput for a Flexible Part Feeder
估算灵活零件送料器的吞吐量
- DOI:
- 发表时间:
1995 - 期刊:
- 影响因子:0
- 作者:
Ken Goldberg;J. Craig;B. Carlisle;R. Zanutta - 通讯作者:
R. Zanutta
Robustly Adjusting Indoor Drip Irrigation Emitters with the Toyota HSR Robot
使用丰田 HSR 机器人稳健调节室内滴灌发射器
- DOI:
- 发表时间:
2018 - 期刊:
- 影响因子:0
- 作者:
R. Berenstein;Roy Fox;Stephen McKinley;Stefano Carpin;Ken Goldberg - 通讯作者:
Ken Goldberg
Geometric Eccentricity and the Complexity of Manipulation Plans
几何偏心率和操纵计划的复杂性
- DOI:
- 发表时间:
2000 - 期刊:
- 影响因子:1.1
- 作者:
A.F. van der Stappen;Ken Goldberg - 通讯作者:
Ken Goldberg
Simulating Polyculture Farming to Learn Automation Policies for Plant Diversity and Precision Irrigation
模拟混养农业以学习植物多样性和精准灌溉的自动化策略
- DOI:
- 发表时间:
2022 - 期刊:
- 影响因子:5.6
- 作者:
Yahav Avigal;William Wong;Mark Presten;M. Theis;Shrey Aeron;Anna Deza;Satvik Sharma;R. Parikh;Sebastian Oehme;Stefano Carpin;J. Viers;S. Vougioukas;Ken Goldberg - 通讯作者:
Ken Goldberg
Ken Goldberg的其他文献
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{{ truncateString('Ken Goldberg', 18)}}的其他基金
NRI: INT: SCHooL: Scalable Collaborative Human-Robot Learning
NRI:INT:SCHooL:可扩展的人机协作学习
- 批准号:
1734633 - 财政年份:2017
- 资助金额:
$ 136.62万 - 项目类别:
Standard Grant
CONE: Collaborative Observatory for Natural Environments
CONE:自然环境合作观测站
- 批准号:
0535218 - 财政年份:2005
- 资助金额:
$ 136.62万 - 项目类别:
Continuing Grant
ITR/SI: Collaborative Telerobotics: Theory and Scalable Infrastructure
ITR/SI:协作远程机器人:理论和可扩展基础设施
- 批准号:
0113147 - 财政年份:2001
- 资助金额:
$ 136.62万 - 项目类别:
Continuing Grant
Postdoc: ECS Postdoctoral Associate: Design and Simulation of Algorithms and Mechanisms for Precision Assembly
博士后:ECS 博士后:精密装配算法和机制的设计与仿真
- 批准号:
9705022 - 财政年份:1997
- 资助金额:
$ 136.62万 - 项目类别:
Standard Grant
Reduced Complexity Manipulation with the Parallel-Jaw Gripper: 2-Year Plan for Extended Research
使用平行爪夹具降低操作复杂性:扩展研究的 2 年计划
- 批准号:
9612491 - 财政年份:1996
- 资助金额:
$ 136.62万 - 项目类别:
Continuing Grant
Reduced Complexity Manipulation with the Parallel-Jaw Gripper
使用平行爪夹具降低操作复杂性
- 批准号:
9123747 - 财政年份:1992
- 资助金额:
$ 136.62万 - 项目类别:
Continuing Grant
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MII: A CISE Planning Proposal for Inter American University of Puerto Rico
MII:波多黎各美洲大学的 CISE 规划提案
- 批准号:
0002197 - 财政年份:2000
- 资助金额:
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CISE Research Infrastructure: A Laboratory for Intelligent Multi-Sense Interfaces (A Planning Grant)
CISE 研究基础设施:智能多传感接口实验室(规划拨款)
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9972881 - 财政年份:1999
- 资助金额:
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CISE Research Instrumentation: Shared Interaction in Support of Design, Learning and Planning
CISE 研究仪器:支持设计、学习和规划的共享交互
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- 资助金额:
$ 136.62万 - 项目类别:
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CISE/EHR/ENG/MPS Collaborative Research on Learning Technologies: Project Technovision X-33 Planning Year
CISE/EHR/ENG/MPS 学习技术合作研究:Project Technovision X-33 规划年
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用于人工智能规划研究的 CISE 研究仪器
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- 批准号:
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