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The interaction of force and geometr...

Giblin, David Joseph.

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The interaction of force and geometry in robotic manipulation.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	The interaction of force and geometry in robotic manipulation./
Author:	Giblin, David Joseph.
Description:	147 p.
Notes:	Adviser: Kazem Kazerounian.
Contained By:	Dissertation Abstracts International68-02B.
Subject:	Engineering, Robotics. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3252581

The interaction of force and geometry in robotic manipulation.
Giblin, David Joseph.

The interaction of force and geometry in robotic manipulation. - 147 p.

Adviser: Kazem Kazerounian.

Thesis (Ph.D.)--University of Connecticut, 2007.

Robots are used exhaustively for contact tasks such as grinding, scribing, and deburring in the manufacturing industry. In these tasks, the robot has position constraints in some directions and force constraints in other directions. It is most often the case that the robot is commanded to maintain a contact force in the normal direction of the workpiece surface while following a trajectory in the tangent plane. For the robot to successfully maintain contact while performing the task, it is essential to know the precise position and geometry of the workpiece, but in practice, there are uncertainties in both. Inaccuracies in workpiece mounting combined with manufacturing tolerances and workpiece wear significantly deviate the positioning and part information from the ideal image of where the workpiece should be and how it should look. The following dissertation develops a novel process that allows the robot to complete successful contact tasks during the presence of workpiece uncertainties and workpiece movements. Furthermore, a strategy is devised that uses existing sensors on industrial robots to gather information to update workpiece geometry and placement in real time, thereby reducing the workpiece uncertainties and improving the overall performance of the robot. A number of simulation experiments demonstrate that these methodologies can be successfully applied to a typical industrial robot with 6 degrees-of-freedom.Subjects--Topical Terms:

1018454
Engineering, Robotics.

The interaction of force and geometry in robotic manipulation.
LDR:02265nam 2200253 a 45 001 941721
005 20110519
008 110519s2007 ||||||||||||||||| ||eng d
035 $a (UMI)AAI3252581
035 $a AAI3252581
040 $a UMI $c UMI
100 1 $a Giblin, David Joseph. $3 1265813
245 1 4 $a The interaction of force and geometry in robotic manipulation.
300 $a 147 p.
500 $a Adviser: Kazem Kazerounian.
500 $a Source: Dissertation Abstracts International, Volume: 68-02, Section: B, page: 1282.
502 $a Thesis (Ph.D.)--University of Connecticut, 2007.
520 $a Robots are used exhaustively for contact tasks such as grinding, scribing, and deburring in the manufacturing industry. In these tasks, the robot has position constraints in some directions and force constraints in other directions. It is most often the case that the robot is commanded to maintain a contact force in the normal direction of the workpiece surface while following a trajectory in the tangent plane. For the robot to successfully maintain contact while performing the task, it is essential to know the precise position and geometry of the workpiece, but in practice, there are uncertainties in both. Inaccuracies in workpiece mounting combined with manufacturing tolerances and workpiece wear significantly deviate the positioning and part information from the ideal image of where the workpiece should be and how it should look. The following dissertation develops a novel process that allows the robot to complete successful contact tasks during the presence of workpiece uncertainties and workpiece movements. Furthermore, a strategy is devised that uses existing sensors on industrial robots to gather information to update workpiece geometry and placement in real time, thereby reducing the workpiece uncertainties and improving the overall performance of the robot. A number of simulation experiments demonstrate that these methodologies can be successfully applied to a typical industrial robot with 6 degrees-of-freedom.
590 $a School code: 0056.
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0771
710 2 $a University of Connecticut. $3 1017435
773 0 $t Dissertation Abstracts International $g 68-02B.
790 $a 0056
790 1 0 $a Kazerounian, Kazem, $e advisor
791 $a Ph.D.
792 $a 2007
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3252581