GRIPPER-BASED POSITION/FORCE SENSOR DESIGN AND ROBOT HAND MOTION CONTROL DURING ASSEMBLY (EMPLOYMENT, PLATE THEORY, MATING ANALYSIS, CONTROL ALGORITHMS, PART).

摘要

A gripper-based position/force sensor is designed to determine the position, distribution and magnitude of the load applied by the object on the sensor. Three forces and three moments are also measured.; Theory of plates is employed to solve the inverse problem in elasticity with specific applications to position/force sensor design. Analytical and numerical methods for solving the inverse problem are presented. The term "Inverse problem" used here implies the determination of position, distribution, and magnitude of the load applied by the object on the sensor, if strains are measured at several locations in a structure. The inverse solutions obtained analytically and numerically are compared with exact solutions.; In order to develop control algorithms for robot hand motion, the geometric relationship and part mating force between object and hole during insertion are investigated. A controller is proposed in contrast to the existing hybrid position/force controller.