Experiments and Modeling of Friction-Compliance Laws for Friction-Based Fixturing and Robotic Manipulation

基于摩擦的夹具和机器人操纵的摩擦柔顺定律的实验和建模

• 批准号: 0600679
• 负责人: Joel Burdick
• 金额: $ 19.74万
• 依托单位: California Institute of Technology
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2006
• 资助国家: 美国
• 起止时间: 2006-05-01 至 2009-04-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0600679&HistoricalAwards=false
• 关键词: Experiments; Modeling; Friction; Compliance; Laws

The objective of this analytical and experimental research project is to develop new nonlinear modeling methods for the physics of contact in multi-body grasps and fixtures, and to verify these models on a novel experimental fixturing system. The analytical portion of the project will formulate lumped parameter nonlinear compliance laws that more accurately describe the physics of multi-body contact involving both friction and compliance. The experimental component of this project will create a novel experimental system that can accurately measure the forces involved in compliant and frictional fixturing arrangements. The analytical models will be verified and refined on this experimental fixturing system. The resulting nonlinear models will be used to develop novel fixturing and grasping algorithms that accept task specifications such as workload level and immobilization tolerance, and the adaptively select the simplest possible fixture arrangement that satisfies both the task constraints and the governing physics of the contacts.Physical arrangements that involve contact between multiple bodies are common in industrial fixturing and robotic grasping applications. The success of fixture, grasp, and manipulation planning algorithms may crucially depend on the accuracy of the underlying contact models upon which the plans are based. If successful, the nonlinear contact models that will be developed in this research project will allow entirely new fixture planning paradigms. Current fixturing paradigms rely on conservative rigid body models to ensure proper workpiece immobilization. But many light-to-moderate duty applications need not be gripped by as many fixels as are required by these classical paradigms in order to achieve task specifications. The improved friction-compliance laws that will be created in this project will allow more intelligent and adaptive fixturing strategies that should yield simple yet robust fixturing and gripping systems. This research will also lead to new robotic manipulation algorithms that avoid catastrophic phenomena such as wedging and jamming.

该分析和实验研究项目的目的是开发新的非线性建模方法，以用于多体grasps和固定装置中的接触物理学，并在新型的实验固定系统上验证这些模型。 该项目的分析部分将制定总参数非线性依从性法律，该法律更准确地描述了涉及摩擦和合规性的多体接触的物理。 该项目的实验组成部分将创建一个新型的实验系统，该系统可以准确测量与符合和摩擦固定布置相关的力。 分析模型将在此实验固定系统上进行验证和完善。 所得的非线性模型将用于开发新颖的固定和掌握算法，这些算法接受诸如工作负载水平和固定容忍度之类的任务规格，以及适应性地选择满足任务约束的最简单的固定装置，同时既可以满足联系人的联系。 固定，掌握和操纵计划算法的成功可能取决于计划所基于的基础接触模型的准确性。如果成功，该研究项目中将开发的非线性联系模型将允许全新的固定装置计划范例。当前的固定范例依赖于保守的刚体模型来确保适当的工件固定。 但是，为了实现任务规格，许多固定范围不必被许多固定件所要求的固定装置所掌握。 该项目将创建的改进的摩擦符合法则将允许更聪明和适应性的固定策略，这些策略应产生简单而强大的固定和抓地力系统。 这项研究还将导致新的机器人操纵算法避免造成灾难性现象，例如楔形和干扰。