Research outputs per year
Research outputs per year
Project Details
Description
The research (led by John Billingsley) programmed robots as if they were craftsmen. Computer integrated manufacture and adaptive path control were investigated. A new DC motor servo was created and simple models of machinery dynamics were used to select via points for manipulator paths.
Aa part of the project, David Sanders completed his PhD in robot path planning with constraints. the PhD was directed by J Billingsley.
Aa part of the project, David Sanders completed his PhD in robot path planning with constraints. the PhD was directed by J Billingsley.
Layperson's description
Robots were programmed as if they were craftsmen
Key findings
Investigated:
- Minimising current and torque transients in motors using information from the servo-amplifiers connected to robot joints.
- Adaptive path control
- Robot path adaption based on axis drive current monitoring including discrimination between collision and acceleration transients.
-Automatic robot path planning with constraints.
- The selection of via points for manipulator paths using simple models of machinery dynamics.
Created:
- Computer integrated quality & manufacture systems.
- New adaptive path control methods.
- Advanced adaptive path controllers using information from servo amplifier currents.
- New DC motor servo amplifiers.
- Minimising current and torque transients in motors using information from the servo-amplifiers connected to robot joints.
- Adaptive path control
- Robot path adaption based on axis drive current monitoring including discrimination between collision and acceleration transients.
-Automatic robot path planning with constraints.
- The selection of via points for manipulator paths using simple models of machinery dynamics.
Created:
- Computer integrated quality & manufacture systems.
- New adaptive path control methods.
- Advanced adaptive path controllers using information from servo amplifier currents.
- New DC motor servo amplifiers.
| Short title | Sensory based robotics |
|---|---|
| Status | Finished |
| Effective start/end date | 15/06/84 → 14/06/87 |
Keywords
- Sensors
- Planning
- Robotics
- Path
Fingerprint
Explore the research topics touched on by this project. These labels are generated based on the underlying awards/grants. Together they form a unique fingerprint.
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The selection of via points for manipulator paths using simple models of machinery dynamics
Sanders, D., 1991, Advances in manufacturing technology VI: proceedings of the seventh national conference on production research. Spurgeon, D. & Apampa, O. (eds.). Hatfield: Hatfield Polytechnic, p. 331-336Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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DC motor servo
Sanders, D., Feb 1988, In: Practical Electronics. p. 51-54Research output: Contribution to journal › Article
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Robot path adaption based on axis drive current monitoring including discrimination between collision and acceleration transients
Sanders, D., Billingsley, J., Robinson, D. & Collie, A., 1988, Robotics and factories of the future ’87: proceedings of the second international conference San Diego, California, USA July 28–31, 1987. Radharamanan, R. (ed.). Berlin: Springer, p. 437-446Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
Activities
- 1 Oral presentation
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The selection of via points for manipulator paths using simple models of machinery dynamics
David Sanders (Speaker)
8 May 1991Activity: Talk or presentation types › Oral presentation