Date of this Version
This is the final report representing three years of work under the current grant. This work was directed to the development of a distributed computer architecture to function as a force and motion server to a robot system. In the course of this work we developed a compliant contact sensor to provide for transitions between position and force control; we have developed an end-effector capable of securing a stable grasp on an object and a theory of grasping; we have built a controller which minimizes control delays, and are currently achieving delays of the order of five milliseconds, with sample rates of 200 hertz; we have developed parallel kinematics algorithms for the controller; we have developed a consistent approach to the definition of motion both in joint coordinates and in Cartesian coordinates; we have developed a symbolic simplification software package to generate the dynamics equations of a manipulator such that the calculations may be split between background and foreground.
Richard P. Paul, Hong Zhang, Minoru Hashimoto, Alberto Izaguirre, Jeffrey Trinkle, Nathan Ulrich, Yangsheng Xu, and Yehong Zhang, "A Distributed System for Robot Manipulator Control", . July 1988.
Date Posted: 30 October 2007