Shown in this snapshot is a three-fingered Barrett Hand
grasping a pipe.
The hand is mounted on a PUMA robot, and is part of the research project
described above. Click on the thumbnail image for a
MOVIE
showing
the hand in action!
We have done work not only with the Barrett hand, but the with the three-fingered hand known both as the JPL-Stanford Hand and the Salisbury Hand.
The Barrett Hand does not have independent joint control, and is designed to achieve force closure grasps mechanically, with a compact design. The Salisbury Hand (and several others) has independent joint control, allowing more dexterity and permitting object manipulation at the expense of greater mechanical and electrical complexity.
Some Publications and Presentations...
- D. Zameroski, G. Starr, J. Wood, and R. Lumia, "Rapid Swing-Free Transport of Nonlinear Payloads Using Dynamic Programming," ASME Journal of Dynamic Systems, Measurement, and Control, v. 130, July 2008.
- G. Starr, J. Wood, R. Lumia, D. Bowling, "Vibration-Free Transport of Non-Rigid Objects in DOE Settings," 2007 ANS/ENS International Winter Meeting and Nuclear Technology Expo, November 11-15, 2007, Washington, DC.
- D. Bowling, G. Starr, R. Lumia, and J. Wood, "Wideband Suppression of Motion-Induced Vibration," 2007 IEEE Int'l. Conf. on Robotics & Automation, Rome, ITALY, April 10-14, 2007.
- C. Williams, G. Starr, R. Lumia, and J. Wood, "Curvilinear Transport of Suspended Payloads," 2007 IEEE Int'l. Conf. on Robotics & Automation," Rome, ITALY, April 10-14, 2007.
- D. Zameroski, G. Starr, R. Lumia, and J. Wood, "Swing-Free Trajectory Generation for Dual Cooperative Manipulators using Dynamic Programming," 2006 IEEE Int'l. Conf. on Robotics & Automation}," Orlando, FL, May 15-19, 2006.
- Y. Liu, G. Starr, J. Wood, and R. Lumia, "Spatial Grasp Synthesis of Complex Objects using Model-Based Simulation," Industrial Robot, v. 32, no. 1, January 2005.
- G. Starr, J. Wood, and R. Lumia, "Rapid Transport of Suspended Objects," 2005 IEEE International Conference on Robotics and Automation, Barcelona, SPAIN, April 18-22, 2005.
- C. Gatla, R. Lumia, G. Starr, and J. Wood, "An Efficient Method to Compute Three Fingered Planar Object Grasps Using Active Contour Models," IROS 2004, IEEE/RSJ Int'l. Conf. on Intelligent Robots and Systems, Sendai, JAPAN, Sept. 28-Oct. 2, 2004.
- Braun, B. M., G. P. Starr, J. E. Wood, and R. Lumia, "A Framework for Implementing Cooperative Motion on Industrial Controllers," IEEE Transactions on Robotics and Automation, June 2004.
- R. Smith, G. Starr, R. Lumia, and J. Wood, "Preshaped Trajectories for Residual Vibration Suppression in Payloads Suspended from Multiple Robot Manipulators," 2004 IEEE Int'l. Conf. on Robotics and Automation, New Orleans, LA, April 26-May 1, 2004.
- D. G. Wilson, G. P. Starr, G. G. Parker, and R. D. Robinett, "Nonlinear Adaptive Control for Slewing Flexible Active Structures," AIAA Journal of Guidance, Control, and Dynamics, v. 27, no. 1, January-February 2004.
- Zhang, J., Lumia, R., Starr, G., Wood, J., "The Influence of Vision System Delay on the Stability of Visual Servoing Systems," IEEE International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, October 27-November 1, 2003.
- Jonnalagadda, K., Lumia, R., Starr, G., Wood, J., "Viewpoint Selection for Object Reconstruction Using Only Local Geometric Features," 2003 IEEE Int'l. Conf. on Robotics and Automation, Taipei, Taiwan, May 12-17, 2003.
- Lumia, R., Wood, J., Starr, G., "Predicting Technical and Financial Viability of Waste Cleanup Projects Using RADDS," 48th Annual Conference on Bioassay, Analytical, and Environmental Radiochemistry (BAER), Las Vegas, NV, October 28-November 1, 2002.
- Wilson, D. G., R. D. Robinett III, G. G. Parker, and G. P. Starr, "Augmented Sliding Mode Control for Flexible Link Manipulators," Journal of Intelligent and Robotic Systems, 34: 415-430, 2002.
-
Liu, Y., G. Starr, J. Wood, R. Lumia, "Simulation-Based Grasp Planning
using Neuro-Fuzzy Techniques," Robotics 2002, ASCE Conference on
Space and Robotics, Albuquerque, NM, March 17-21, 2002.
-------- let's skip some of these...a bunch of OLD SCHOOL stuff! --------
- Starr, G. P. and M. A. Powell, "On the Edge Finishing of Curved Planar Parts," Journal of Vibration and Control, August, 1997.
- Wilson, D.G., I. Searle, R. Ikegami, and G.P. Starr, "Dynamic Characterization of Smart Structure for Active Vibration Control Applications," Proc. Int'l. Symp. on Adv. Matls. for Vibro-Acoustic Applications, 1996 ASME WAM, Atlanta, GA, November 1996.
- Starr, G. P., Wilson, D.G., Stokes, D., Robinett, R., "Optimized Input Shaping for a Single Flexible Robot Link," SPACE 96: 5th Int'l. Conf. and Exposition on Engr., Constr., & Operations in Space, Albuquerque, NM June 1996.
- Starr, G.P., Wilson, D.G., "Vibration Suppression of a Single Flexible Robot Link," Proc. of SPIE Conf. on Smart Structures and Integrated Systems, v. 2717, San Diego, CA, February 1996.
- Starr, G. P., D. J. Schmitt, J. L. Novak, and J. Maslakowski, "Real-Time Seam Tracking for Rocket Nozzle Manufacturing," 1994 IEEE Int'l. Conf. on Robotics and Automation, May 1994, San Diego, CA.
- Starr, G. P., "Development of Constrained Motion Control for Robot Handling of Hazardous Waste," Radioactive Waste Management and the Nuclear Fuel Cycle, v. RWM-3, pp. 1-15, 1993.
- Starr, G. P., and C. S. Loucks, "Edge Finishing Using Hybrid Force/Position Control of an XY Table," 1992 Int'l. Conf. on Industrial Electronics, Control, Instrumentation and Automation, San Diego, CA, Nov. 1992.
- Starr, G. P., "An Experimental investigation of object stiffness control using a multifingered hand," Robotics and Autonomous Systems, (10), 1992.
- Starr, G. P., and C. W. Wilson, "Design of a Torque Controller for the Adept-2 Robot," Journal of Intelligent and Robotic Systems, 1992.
- Starr, G. P., and Y. C. Park, "Grasp Synthesis of Polygonal Objects with a Three-Fingered Robot Hand," International Journal of Robotics Research., v.11, n.3, 1992.
- Starr, G. P., "Experiments in Assembly Using a Dexterous Hand," IEEE Journal of Robotics and Automation, v. 6, n. 3, June 1990.
-
Starr, G. P., and Y. C. Park, "Efficient Fingertip Force Computation for
Object Manipulation using a Dexterous Robot Hand,"
Computers & Electrical Engineering,v. 16, n. 1, 1990.
Finally, HERE'S the publication that absolutely started the whole field of input shaping as applied to robotics! A landmark!!
-
Starr, G. P., "Swing-Free Transport of Suspended Objects with a
Path-Controlled Robot Manipulator," ASME Journal of
Dynamic Systems, Measurement, and Control, March 1985.
-------- There's a bunch more EVEN OLDER SCHOOL stuff...forget it! --------
If you're interested in Research and Graduate Study at the UNM Department of Mechanical Engineering, send me some mail at starr@unm.edu