The Bracing Strategy for Robot Operation
Book, Wayne John
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A new strategy of robot operation, the bracing strategy, is presented. Under this strategy an arm is moved into position then rigidized by bracing against either the work piece or an auxiliary, static structure. Subsequent precision motion does not involve the entire arm, but only degrees of freedom at the end of the arm. The advantage of this strategy is that it allows high speed, precision motion with a light weight, flexible arm. Light arms require smaller actuators, less energy, may be faster, are safer, and are less expensive. Four means of clamping to the structure are considered: A simple normal force, mechanical clamping, vacuum attachment, and magnetic attachment. Each means has restrictions and advantages. Arm control with the bracing strategy requires four modes: gross motion control, rendezvous with the bracing structure, control of gross actuators after bracing and control of fine motion actuators distal to the bracing point.