Software Architecture and System Identification

At present, to demonstrate the functionality of the hardware, the software supports tele-operation control from a workstation consisting of two SensAble Technologies Phantom 3.0 input devices and a foot pedal arrangement.

Developed as a personal robotics programming platform, this robot will be the site for extensive further work in all aspects of robotics involving mobile manipulation tasks. The software is currently being extended for use as a software development platform focusing on the technologies required to enable the types of personal robotics applications outlined.

System Identification and evaluation, since PR-1 is designed to work in human environments, its specifications are approximately human-like, with some improvements (such as the continuously rotating wrist joint), and some simplifications, such as the use of wheels instead of humanoid legs.

The Manipulator Safety Index (MSI) developed by Zinn gives an indicator of the likelihood that a manipulator will cause severe injury in the event of contact with a human head. The driving variables are the manipulator’s effective inertia, impact velocity, and interface stiffness. For PR-1, these variables were experimentally determined and their realistic ranges are listed. The MSI range for PR1 has a very low risk of serious injury compared to industrial robots such as the PUMA-560.

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