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ME5286CourseNotes14-09 - Manipulator Peripherals The Remote...

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Manipulator Peripherals: The Remote Center Compliance
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Remote Center Compliance (RCC) What is “compliance”? Producing the proper “jiggle” to correct for misalignments Passive compliance: Compliant stationary fixtures Robot grippers with “remote center compliance”
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Diagrams of RCC Action
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Remote Center Compliance Entirely passive “Passive” = All springs, bars, etc. No motors No sensors, etc. Low mass gives it high bandwidth Puts pegs in holes in 1/4 s
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Actual RCC’s ATI Industrial Automation Inc. http://www.ati-ia.com / Also see http://www.ristec.com/define-remote.htm Lateral and cocking misalignment occur during assembly RCC aligns the part in the hole
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Integrating sensors into robots
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Adaptability Provided By: Sensing Programming Dexterity Why? Unstructured environment Wide tolerances in parts Complicated paths Large number of programmed points Unpredictable change Maximize flexibility
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Sensory Requirement Environmental Structure
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Robot Senses: Proprioception - Joint position - Joint torque Vision - Proximity - Rangefinding - Digital image Touch - Force - Tactile Balance Self Preservation
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The Future
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