SERC CASE Project - Sensory based robotics and automatic robot path planning with constraints

    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.

    Layman'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.
    Short titleSensory based robotics
    StatusFinished
    Effective start/end date15/06/8414/06/87

    Keywords

    • Sensors
    • Planning
    • Robotics
    • Path

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