Development, Implementation, and Validation of Control Algorithms for the Dual-Arm Robotic Manipulation of a Single Object
Final rept. Feb-Dec 89
PERITUS INC NORWOOD NJ
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The objective of this task was to develop and validate control algorithms for the dual-arm robotic manipulation of a single object. The specific tasks performed to attain the objective were 1 Prepare control boards suitable for the processing and data handling necessary for the dual-arm robotic manipulation of a single object using wrist mounted forcetorque sensors as feedback devices 2 Devise and implement a means for estimating the weight of the gripped object and eliminating that reaction from the individual force torque transducer readings 3 Implement an interface with an external vision system that is to be used to locate the initial position and orientation of the object to be manipulated and, using that input, individually guide each arm to an initial grip point 4 Implement a technique for removing any initial misalignment existing between either gripper and the gripped object 5 Implement a control technique to allow the trajectory of one the cooperating manipulators to adapt to any misalignment error occuring during the dual-arm manipulation of the object 6 Validate the control algorithm and develop a working demonstration of the control approach and 7 Document all control software and test results.