| EPSRC Reference: |
GR/K68271/01 |
| Title: |
AN INTERACTIVE TEACHING METHOD FOR DERIVING PROGRAMMES FOR FORCE-CONTROLLED MANIPULATORS |
| Principal Investigator: |
Malcolm, Mr C |
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| Department: |
Sch of Informatics |
| Organisation: |
University of Edinburgh |
| Scheme: |
Standard Research (Pre-FEC) |
| Starts: |
28 April 1995 |
Ends: |
27 October 1998 |
Value (£): |
240,945
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Summary on Grant Application Form |
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By using a minipulator that is desgined to be purely force-controlled we have previously shown that it is possible to generate task-invariant assembly strategies (Grant Reference GR/J/94372). That is to say, the robot can be programmed to exhibit, for example, a generic peg-in-hole task-achieving behaviour that applies to parts of the appropriate geometric topology, irrespective of sixe, tolerances and location of those parts.At the moment the usefulness of this device is limited by the difficculty of programming it. The purpose of this research is to provide an interface to this robot that will enable anyone to program it. In order to do this we intend to construct a back-drivable, motorised joystick, that is driven by the forces experienced at the robot's wrist. This will allow the user to explore a task whilst experiencing the robot's interaction with the environment. Once the user has acquired the skill necessary to perform the task successfully the system will attempt to acquire this skill from the user and replicate it. On-line modifications to an assembly strategy will be possible as the robot performs.
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Key Findings |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Potential use in non-academic contexts |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Impacts |
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| Description |
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk |
| Summary |
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| Date Materialised |
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Sectors submitted by the Researcher |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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| Project URL: |
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| Further Information: |
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| Organisation Website: |
http://www.ed.ac.uk |