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Abs@adA novel actuator concept has been developed and prototypcd. By integra% a multi-speed transmission with a hgh performance permanent magnet DC servomotor, it has been shown that an elecuical drive can provide power/torque density and physical sue that approaches the capabilities of electrohydraulics. Prehnhaty experimental tests of the prototype are encouraging and the first steps toward v w the concept 0-7803-8232-3/04/$17.00 @ZOO4 IEEE

Single-Page Project Summary Purpose of the ResearchThe purpose of this research was to develop a telerobotic master device consisting of a 7-axis backdrivable robotic arm, and a pressure-sensitive grip-controller integrated with a Compact Remote Console (CRC), thus creating a highly functional teleoperation station targeted to control a 6-axis industrial robotic arm and dexterous robotic hand to be used for demolition work in a nuclear setting. Description of Work PerformedWe successfully completed the development of one of the world's smallest brushless motor controllers due partially to funding through this grant. These controllers are used to drive the motors in the master robotic arm. We also completed the development of an improved model of a highly advanced 4 degreeof-freedom arm -this same arm is the core component in the teleoperation system. The WAM arm and a 3-axis gimbals were integrated with a commercially available CRC at our consultant's lab at University of Tennessee. Additional support hardware and software were combined to tie the master control system to an existing industrial robot in the lab. A master controller for a dexterous hand was developed and became an integral part of the gimbals handle. Control algorithms were developed and the software was written and implemented. The entire system was then debugged and tested. Research ResultsResults of the prototype system are promising. The WAM Arm, gimbals, hand controller and CRC were successful integrated. Testing of the system to control the 6-axis industrial arm and prototype dexterous hand showed great potential. Relatively simple tasks were successfully performed at slow speeds. Some of the testing was hampered by problems with the slave dexterous hand. This is a prototype hand being developed by Barrett under a different Phase II program. Potential improvements and advancements to the system include improving the control code, and integration of a 2 nd master controller arm in order to drive a 2 nd slave arm and hand. In summary, the device is a complex system with advanced features and could be used as a universal platform for efficient controlling of robotic arms performing remote tasks in unstructured and uncertain environments such as those prevalent in environmental clean up. Potential ApplicationsIn addition to the DOE-targeted application of teleoperation in a nuclear setting, other teleoperation tasks could greatly benefit from this new system including remote surgery, and unexploded-ordnance disposal. Additional benefits from this project include the completion of an advanced miniature motor controller for brushless DC motors, and the completion of an improved four degree-of-freedom standalone robot arm. The former may become a standard Barrett product, while the latter has already sold ten units since its re-introduction. Brief Summary of Project ObjectivesObjective 1: Complete development of the miniature motor controller Barrett completed development of its 43 gram miniature controller with integrated optical encoder. In add...

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