Technology Integration For A Mobile, High-performance Robotic Manipulator

This paper is directed to assessing component robotics technologies for a mobile high-performance dual manipulator. The manipulator system construct is defined in terms that allowed us to address the staged and modular integration best suited to integrated sensor and massively parallel processing capabilities. The technology development plan is then discussed. The issues related to pulling together evolving technologies currently being developed in the laboratories as well as other related efforts in the industry is also addressed. The main vehicle for purposeful integration of component robotics technologies is a detailed requirement analysis for a selected field robotic application. The complex and dexterous tasks required in coordinated mortar loading operations and maintenance functions are suggested in terms of the technological challenges posed in Superarm development. Finally, a graphics simulation and videotape of the Superarm concept demonstration is developed.

[1]  Stephen C. Jacobsen,et al.  Low level control of the Utah/M.I.T. dextrous hand , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[2]  Alan A. Desrochers,et al.  Modeling and control of a mobile robot subject to disturbances , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[3]  John Kenneth Salisbury.  Teleoperator hand design issues , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[4]  Ting W. Lee,et al.  Heuristic combinatorial optimization in the design of manipulator workspace , 1984, IEEE Transactions on Systems, Man, and Cybernetics.

[5]  Hironori Kasahara,et al.  Parallel processing of robot-arm control computation on a multimicroprocessor system , 1985, IEEE J. Robotics Autom..

[6]  John M. Hollerbach,et al.  Implementation of control methodologies on the computational architecture for the Utah/MIT hand , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[7]  Efraim Shaket,et al.  Man-Machine Communication in Computer-Aided Remote Manipulation. , 1979 .

[8]  R. H. Cannon,et al.  End-Point Control of Flexible Manipulators. , 1986 .

[9]  D. C. H. Yang,et al.  On the Dexterity of Robotic Manipulators—Service Angle , 1985 .

[10]  R. H. Cannon,et al.  Initial Experiments on the End-Point Control of a Flexible One-Link Robot , 1984 .

[11]  Stephen C. Jacobsen,et al.  Design of the Utah/M.I.T. Dextrous Hand , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[12]  John M. Hollerbach,et al.  Basic Solid Mechanics for Tactile Sensing , 1984, ICRA.