Experiments Relating Task and Manipulator Characteristics to Performance

Abstract

A review of literature shows that little progress has been made towards quantifying the manipulator characteristics necessary to provide a given performance at a given task. Controlled single factor experiments can be performed by simulating the characteristics of interest and inserting them into the dynamics via the joint control system. Backlash, Coulomb friction, and many other important effects can be studied in this manner. The authors' research utilizes an experimental electric arm controlled by microprocessor, which is described below. In'the twenty-five or so years that remcrt~ manipulation devices have ·been in use, various authors have described qualitatively the characteristics of a good manipulator. The manually controlled manipulator has evolved into the computer controlled manipulator, but the desirable characteristics are still only' described qualitatively. The research underway in the School of Mechanical Engineering at Georgia Tech is attempting to quantify the relationship between manipulator characteristics and manipulator performance for a specific task, and to gain insight into the basic nature of manipulation.