Force - Based Interaction for DistributedPrecision
نویسندگان
چکیده
This paper documents our eeorts to instantiate force-guided cooperative behaviors between robotic agents in the minifactory environment. Minifactory incorporates high-precision 2-DOF robotic agents to perform micron-level precision 4-DOF assembly tasks. Here we utilize two mini-factory agents to perform compliant insertion. We present a custom force sensing device which has been developed as well as the control and communication systems used to coordinate the action of the agents. Finally, we conclude by presenting a set of experimental results which document the performance of the new force sensor as integrated in the minifactory system. These results document the rst experimental connrmation of high-bandwidth (> 100 Hz) coordination between agents within the minifactory system.
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تاریخ انتشار 2001