Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed

Author

Hui, R. ; Kircanski, N. ; Goldenberg, A. ; Zhou, C. ; Kuzan, P. ; Wiercienski, J. ; Gershon, D. ; Sinha, P.

Author_Institution

Dept. of Mech. Eng., Toronto Univ., Ont., Canada

fYear

1993

fDate

2-6 May 1993

Firstpage

155

Abstract

The integrated raster imaging system (IRIS) facility is a robot system to be used for experiments in grasping, manipulation and force control. The facility has two manipulators with four rotary joints each. Each manipulator can assume a multitude of configurations. Each joint is driven by DC brushless motors coupled with harmonic cup drives, and instrumented with position and torque sensors. A six-degrees-of-freedom (DOF) force/torque sensor is mounted at the tip link. The real-time controller of the IRIS facility is based on a nodal architecture. Each node is capable of controlling 8 joints at 1 kHz while executing over 1000-FP (floating point) operations per joint in each sampling method. The design of the IRIS facility and its functional capabilities are described. In addition, the rationale behind the major design decisions is given

Keywords

DC motors; image sensors; robots; test facilities; 1 kHz; 6-d.o.f. force/torque sensor; DC brushless motors; IRIS; expandable robot test bed; force control; grasping; harmonic cup drives; integrated raster imaging system; manipulation; modular reconfigurable test facility; position sensors; real-time controller; robot system; torque sensors; Brushless motors; Couplings; Force control; Force sensors; Instruments; Iris; Manipulators; Robot sensing systems; Sampling methods; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291856

Filename

291856