Risultati finali
Original research objectives:
The Project is a further development of the MAST II AMADEUS project, where a prototype, dextrous, three-finger underwater robot hand was developed. Key innovations were: firstly the use of continuum actuators for the fingers, secondly the development of contact-force and slip sensors, and thirdly, the development of a control system for automated grasping.
Phase II expanded the scope to further develop, strengthen, sensorize and validate the hand design, whilst commencing investigation and deployment of a ROV mountable, dual underwater robot-arm system for grasping and manipulation large objects. A key input was the inclusion of marine scientists in the phase II project structure, to focus on technical activity.
Further developments of this project achieved by its robotics division are:
-Hardware implementation of architecture for real-time dual arm control system.
-Design and implementation of the communication real-time system architecture for dual arm system control.
-Functionality software test for the dual arm system in which software modules for testing the dual-arm systems basic functionality where conducted.
All the above had working prototype that bear relevancy to other robotic applications.
Original research objectives:
The Project is a further development of the MAST II AMADEUS project, where a prototype, dextrous, three-finger underwater robot hand was developed. Key innovations were: firstly the use of continuum actuators for the fingers, secondly the development of contact-force and slip sensors, and thirdly, the development of a control system for automated grasping.
Algorithms and software for taking data from underwater contact sensor, and obtaining valid measurements of force and torque, in the presence of disturbances and other errors.
Phase II expanded the scope to further develop, strengthen, sensorize and validate the hand design, whilst commencing investigation and deployment of a ROV mountable, dual underwater robot-arm system for grasping and manipulation large objects. A key input was the inclusion of marine scientists in the phase II project structure, to focus on technical activity.
A prototype version of a dexterous, flexible, underwater gripper suitable for use in the sub-sea environment has been design and built. The problems associated with the interaction between the complex related stiffness characteristics of continuum actuators has been addressed and the gripper tested in a laboratory tank mounted on a seven degree-of-freedom manipulator. The gripper can handle objects ranging from 10mm to 150mm in diameter and can accept alternative fingertips for specialty activities. The gripper is provided a with palm camera, fingertip force sensing and electrogoniometer angle detectors providing a range of feedback information for bot, the computer control system and the operator.
A set of design rules has been established that enables one to underpin the task of designing a continuum actuator finger for a specific function. Such parameters as packing density, bending efficiency and grasp performance are quantified for a range of geometric configurations. The design rules are capable of extrapolation for the design of larger units, subject to the appearance of any expected scale dimensional characteristics.
6-axis underwater contact sensors use a fingertip gripper for measuring contact forces and torques. There is a working prototype. There is a strong relevancy for other robotic applications.
Original research objectives:
The Project is a further development of the MAST II AMADEUS project, where a prototype, dextrous, three-finger underwater robot hand was developed. Key innovations were: firstly the use of continuum actuators for the fingers, secondly the development of contact-force and slip sensors, and thirdly, the development of a control system for automated grasping.
Phase II expanded the scope to further develop, strengthen, sensorize and validate the hand design, whilst commencing investigation and deployment of a ROV mountable, dual underwater robot-arm system for grasping and manipulation large objects. A key input was the inclusion of marine scientists in the phase II project structure, to focus on technical activity.
Further developments of this project are:
-No. 2 electrically actuated, 7-d.o.f underwater dexterous manipulators.Complete marinised No 2 electrically actuated 7-d.o.f underwater dexterous Ruggedized realizations.
-Methods and algorithmic modules for coordinated control of dual arm systems. Algorithmic modules to be used for composing functional control architectures for dual arm systems and, more generally, multi-robotic systems. It incorporated methodological and algorithmic know how relevant to other robotic applications as well. Dissemination in conferences and journals in progress.
-Sw modules implementing algorithms for coordinated control of dual arm systems. Sw modules to be used for composing functional control architectures for dual arm systems and, more generally, multi-robotic systems optimised and numerically efficient algorithmic Sw modules for multi-robotic system control. The utilisation of which is relevant to other robotic applications.
-Real-time distributed Sw architecture supporting coordinated control methods and algorithms. Efficient protocols and communication channels for real-time inter-processor communication within distributed and multiprocessor architectures. Relevant to other robotic applications.
-Software environment for modelling, simulating, prototyping and developing real-time distributed control Sw for multi-robotic systems.Software environment for modelling, simulating, prototyping and developing real-time distributed control Sw for multi-robotic systems relevant to all robotic applications.
-Advanced graphic interface for robot modelling and simulation. Advanced graphic interface for robot modelling and simulation has been developed and there is currently a working prototype relevant to all robotic applications.
-Underwater tactile sensor and processing system for two-jaws end-effectors. Development of an underwater tactile sensor and processing system for two-jaws end-effectors.
-Fully actuated, kinematically determined gripper. An underwater gripper with three fingers, each of which realizes a tendon-like fully actuated universal joint system.
-Remote positioning system. Tip position detection by means of linear displacement remote measurement and on-line kinematics transformation guaranteed by the adopted anti-buckling structure.
-High bandwidth, depth-invariant actuation system. Direct drive electro-hydraulic system based on linear motors and constant volume hydraulic circuit, with I/O performances independent of the external pressure. Working prototype available relevant to other robotic applications.
-Sensor-less force detection. Elastic deformation due to contact force detected by two different tip position measurement units. Prototype in calibration and tuning phase will be relevant to other robotic applications.
-Robust observer/differentiator. A second order of sliding mode algorithm to attain velocity from noisy position measurements. A new theoretical result having simulation evidence and practical application. Relevant to a large class of applied control problems.
-Robust control for mono-directional input. A combined second order/first order control strategy implementing a simplex based switching logic based on new theoretical results. Simulation evidence and practical application relevant to a large class of applied control problems.
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