A Velocity-Control Framework for Kinematically Redundant Manipulators

During Phase I we designed, implemented, and demonstrated a generic control method for cooperating kinematically redundant serial and bifurcating manipulators. This method extended an augmented Jacobian technique recently published by Energid personnel by 1) adding a post-processing step to increase its robustness and 2) writing an Extensable Markup Language (XML) based description language for the framework to allow control system supervision and modification. The method was proven through implementation in C++ toolkit form and integration with an OpenGL-based viewer. During the Phase II effort, we will 1) refine and extend the existing algorithms and language, 2) add support for vision-based feedback, 3) add support for acceleration control, 4) add support for force control, 5) add algorithms for collision reasoning about rigid, flexible, and movable objects, 6) include simulation capability as part of the control algorithm, 7) enhance the demonstration viewer and integrate a GUI for editing, viewing, and exchanging velocity control systems, 8) add grasping support, and 9) add support for floating-base manipulators. Phase II will culminate in the demonstration of the toolkit working with the software API for Johnson Space Center's Robonaut and CMT manipulator systems.