A Task-Oriented Dextrous Manipulation Architecture
Much of the previous work on dextrous manipulation has concerned itself primarily with hand construction, sensor development, servo-control or grasp planning. Efforts towards the development of an overall manipulation system have either been restricted to a particular set of implementations, or been far too general to be practical. In this chapter, we take the position that a dextrous hand can be studied most efficiently when embedded within the context of an application domain. The main focus of this work is to develop a control architecture for a flexible assembly cell equipped with dextrous hands.
The central idea is to use constraints from the description of the task to be executed to select an appropriate abstract model and physical robot hand-arm system with which to execute the task plan. With this idea as target, we describe how allocation can be performed on the basis of a task criterion for a task plan. We also introduce a set of control models that can be allocated and interfaced to real hand-arm systems for the actual execution of task plans.
KeywordsTorque Transportation Dinate Allo Terion
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