Project Title:

A Precise, Force-Controlled Robotic System

05.06-3729A
NAS7-1086
A Precise, Force-Controlled Robotic System
Dynamic Microsystems
	475E Cannon Green Drive
	Goleta, CA 93117
		Yulan Wang
(805-961-4974)

Abstract:

	A robot capable of dexterous, force-controlled manipulation would allow the automation
of delicate tasks in space, particularly during unmanned missions or extra-vehicular
activities. Analytic proofs show that existing advanced control strategies should
be capable of dexterous force control. The development of precise force controlled
robots requires a mechanism able to execute the force commands and a control system
that can satisfy the computational requirements of advanced force control algorithms.
A new robot controller, the 3DP, developed by the firm offers the computational power
needed for advanced robot control. By coupling this controller with a carefully designed,
low-inertia, redundant mechanism, a precise, force-controllable robotic system will
be developed. Phase I will demonstrate, through computer simulation and analysis,
that the robotic system described can produce precise, force-controlled manipulations.

Potential Commercial Application:

Potential Commercial Applications: A force-controllable robot opens commercial robotics
to a completely new world of automation applications. A few examples are polishing
material, valve assembly, cooperative moving of large delicate objects, and assisting
in surgical operations.