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Title: Sensor-driven robot control and mobility: Final report

Abstract

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.

Authors:
Publication Date:
Research Org.:
Sandia National Labs., Albuquerque, NM (USA)
OSTI Identifier:
5912296
Report Number(s):
SAND-87-7150
ON: DE89013874
DOE Contract Number:  
AC04-76DP00789
Resource Type:
Technical Report
Resource Relation:
Other Information: Portions of this document are illegible in microfiche products
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; 99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; MANIPULATORS; DESIGN; COMPUTER CALCULATIONS; COMPUTERIZED CONTROL SYSTEMS; EFFICIENCY; FEASIBILITY STUDIES; MICROPROCESSORS; PROGRESS REPORT; ROBOTS; COMPUTERS; CONTROL SYSTEMS; DOCUMENT TYPES; ELECTRONIC CIRCUITS; EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; MICROELECTRONIC CIRCUITS; REMOTE HANDLING EQUIPMENT; 420200* - Engineering- Facilities, Equipment, & Techniques; 990210 - Supercomputers- (1987-1989)

Citation Formats

Starr, G P. Sensor-driven robot control and mobility: Final report. United States: N. p., 1989. Web.
Starr, G P. Sensor-driven robot control and mobility: Final report. United States.
Starr, G P. Mon . "Sensor-driven robot control and mobility: Final report". United States.
@article{osti_5912296,
title = {Sensor-driven robot control and mobility: Final report},
author = {Starr, G P},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1989},
month = {5}
}

Technical Report:
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