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Dual-Arm Robotic Workcell

Two seven-axis, redundant manipulators were designed from scratch at CIM, with an architecture optimized to provide them with the highest accuracy, which led to what we have termed kinetostatic isotropy. This feature gives the manipulator the highest accuracy for positioning and force-sensing, which makes it ideal for hybrid force-and-positioning control. The manipulators, REDIESTRO 1 and REDIESTRO 2, are supplied with a six-axis force sensor at their end-effector, the latter being supplied, additionally, with torque sensors at its joints. These manipulators are the major components of a dual-arm workcell that is being developed in conjunction with the Canadian Space Agency and Bombardier Services. The workcell is used for the development of algorithms for object-avoidance and force control, which will be used on the International Space Station, since this robot has many features of the Space Station Remote Manipulator System. This project is financed by a contract with Bombardier Services in the framework of the Strategic Technologies for Autonomous Robotics (STEAR) Program. (Figure 6.13).

J. Angeles, R. V. Patel (U. of Western Ontario), A. Robins (Bombardier Services), F. Shadpey (Bombardier Services)


Figure 6.13: Dual-arm robotic workcellfig:photo6



Annual Report

Mon Jun 26 21:22:20 GMT 2000