Goal-directed motion planning and control for assembly tasks
Abstract
Most assembly tasks performed by a manipulator will likely require some form of compliant motion which may be defined as the ability to modify the manipulator action/motion based on sensed contact forces during the motion. A basic research is proposed to investigate the utilization of geometric models in planning high-level, goal-directed control strategies for manipulator in compliant motion control. This research represents an effort to integrate the concept of robot fine motion control and geometric modeling, and develop an intelligent control strategy for robot compliant control. The underlying concept is to blend the geometric information about the mating parts from a geometric modeling system and the sensory data acquired from external sensors into an "intelligent" control system for manipulator in assembly tasks. More specifically, this research focuses on how the three-dimensional geometric information about the mating parts can be utilized to plan the desired position/force trajectories for the hybrid position/force controller and how the low-level sensory information, besides being used for servo control, can be utilized to monitor and interpret the progress of the assembly task.
Degree
Ph.D.
Advisors
Lee, Purdue University.
Subject Area
Electrical engineering
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