Final Technical Report for DOE Grant DE-FG02-02ER83371, Phase II

Abstract

The purpose of this research was to develop a telerobotic master device consisting of a 7-axis backdrivable robotic arm, and a pressure-sensitive grip-controller integrated with a Compact Remote Console (CRC), thus creating a highly functional teleoperation station targeted to control a 6-axis industrial robotic arm and dexterous robotic hand to be used for demolition work in a nuclear setting. We successfully completed the development of one of the world?s smallest brushless motor controllers due partially to funding through this grant. These controllers are used to drive the motors in the master robotic arm. We also completed the development of an improved model of a highly advanced 4 degree-of-freedom arm ? this same arm is the core component in the teleoperation system. The WAM arm and a 3-axis gimbals were integrated with a commercially available CRC at our consultant?s lab at University of Tennessee. Additional support hardware and software were combined to tie the master control system to an existing industrial robot in the lab. A master controller for a dexterous hand was developed and became an integral part of the gimbals handle. Control algorithms were developed and the software was written and implemented. The entire system was then debugged and tested. Results of the prototype system are promising. The WAM Arm, gimbals, hand controller and CRC were successful integrated. Testing of the system to control the 6-axis industrial arm and prototype dexterous hand showed great potential. Relatively simple tasks were successfully performed at slow speeds. Some of the testing was hampered by problems with the slave dexterous hand. This is a prototype hand being developed by Barrett under a different Phase II program. Potential improvements and advancements to the system include improving the control code, and integration of a 2nd master controller arm in order to drive a 2nd slave arm and hand. In summary, the device is a complex system with advanced features and could be used as a universal platform for efficient controlling of robotic arms performing remote tasks in unstructured and uncertain environments such as those prevalent in environmental clean up.