Research Multiobjective Robotic Manipulation

Multiobjective Robotic Manipulation

Kinematically redundant manipulators are coveted for their ability to perform more complex and a greater variety of tasks than their non-redundant counterparts. The availability of redundant degrees of freedom (DOF) affords a redundant manipulator an infinite number of motion solutions for a given task, thereby allowing the achievement secondary manipulation goals such as collision avoidance, dexterity improvement, and energy minimization. Motion control methods play an integral role in the efficiency of redundancy resolution, however the degree of resolution attainable by these methods is ultimately determined by morphological design.

In this research, we use multi-objective cost functions (heuristic and deterministic) and dynamic models of manipulation tasks to design adaptive, kinematically redundant manipulators. The kinematic structure, controller, and actuation topology of manipulators are simulated, evaluated, and optimized computationally as they operate in environments with wide varieties of tasks, unexpected disturbances, and positioning/vision inaccuracy. Physical prototypes of redundant manipulators will be constructed using compliant actuation mechanisms and an array of sensors (tactile, force, and optical) to allow collision avoidance, trajectory optimization energy-efficiency, and other autonomous adaptive control objectives. The goal of this project is to develop manipulators that are robust to changes that naturally occur in real-world environments and are safe enough to work cooperatively with humans.

 

 

 

 

 

Relevant Publications

  • F. Hammond III, R. Howe, and R. Wood. “Dexterous High-Precision Robotic Wrist for Micromanipulation,” IEEE International Conference on Advanced Robotics, Montevideo, Uruguay, 2013.
  • F. Hammond III, S. Talbot, R. Howe, and R. Wood. “Measurement System for the Characterization of Micromanipulation Motion and Force,” Design of Medical Devices Conference, Minneapolis, Minnesota, USA, 2013. (Accepted)
  • F. Hammond III, S. Talbot, R. Wood, and R. Howe. “Data-Driven Design of a Dexterous Robotic Microsurgery System,” Design of Medical Devices Conference, Minneapolis, Minnesota, 2012. .