Sensor-driven robot control and mobility: Final report
The work performed under contract 57-2312 which is presented in this Final Report consists of the following tasks: Continued development of the UNM/SNL controller for the dexterous hand, and evaluation of this controller in a demonstration assembly task. This is the first documented use of a dexterous hand in an actual assembly task; Development of the necessary theory for effective fingertip force calculation when using the dexterous hand to manipulate an object. This theory, unlike previous formulations, makes use of internal force to prevent the fingers from sliding or breaking contact; ongoing development of the controller for the Adept-2 pedestal robot. The effort here has primarily been in identifying an appropriate waveform for commutation of the NSK direct-drive variable-reluctance motor. We have developed a simulation of the motor, which aids in waveform synthesis.
- Research Organization:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 5912296
- Report Number(s):
- SAND-87-7150; ON: DE89013874
- Resource Relation:
- Other Information: Portions of this document are illegible in microfiche products
- Country of Publication:
- United States
- Language:
- English
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