Photonic Robot

Public information for the IFOS/BDML NASA STTR posted here

IEEE/ICRA2008

• Paper in IEEE ICRA2008: Fingertip Force Control with Embedded Fiber Bragg Grating Sensors
  • One page summary slide
  • LaTex files
• Power Point Presentation Slides and Video Clips
• Small Fingertip Smart Force Control Movie - December 2007

IEEE/ICRA2007

• Paper in IEEE ICRA2007: Force Sensing Robot Fingers using Embedded Fiber Bragg Grating Sensors and Shape Deposition Manufacturing
  • One page summary slide
  • LaTex files
• Power Point Presentation Slides and Video Clips
• Force Sensing Finger Smart Control Movie - May 2007

Smart Skin Design and Prototyping

• Smart Finger Design Concept
• Material Selection: Possible Polymers for Smart Structure Prototyping
• Prototype 1: March, 2006
• Prototype 2: May, 2006
• Prototype 3: August, 2006
  
  • Single axis force sensing test movies using prototype 3: November, 2006
    • Straight-line motion of following a force
    • Rotation motion of following a force
    • Straight-line motion of avoiding a force
    • Rotation motion of avoiding a force
• Prototype 4: January, 2007

System Integration

• Ethernet communication setup between Adept and QNX machines. (September, 2006)
• Servo To Go ISA BUS I/O card ADC setup (October, 2006)
• Dexter motor and encoder control (January, 2007)

Adept Robot

Information about the Adept robot and its external control.

• Page on the Adept robot controller from older NSF project on telemanipulation. Includes brief description of the Alter command and update rate.
• Adept Robot Reference Guide: Useful information on AdeptOne-MV operation including manuals
• AdeptNet User's Guide: Information on AdeptNet Ethernet connection setup
• V+ Language Reference Guide
• V+ Language User's Guide

Dexter Hand

Information about Dexter and its control and operation here...

• Dexter Hardware Overview: Dexter is a two-fingered robotic hand, with two degrees of freedom per finger.
• RE35 Maxon Motor Datasheet

Computer Control

Information about the overall control environment

• Multi process programming in QNX for Dexter and Adept control
• QNX Operating System Overview
• ISA Bus Servo I/O Card Hardware Manual: Servo To Go I/O card manual

-- MarkCutkosky - 09 Jan 2006; YongLaePark 12Jan06

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