DESCRIPTION

This research aims at developing novel robotic systems and approaches tailored to the manufacturing processes used in the aerospace industry. Using mechanical models of the interactions between human workers, robots and components/processes, the proposed approach consists in providing an intuitive low-impedance physical interaction between humans and robots while augmenting the capabilities of robots to perform demanding manufacturing tasks and ensuring safety. More specifically, the objectives can be stated as follows: 1) To conceptualize, synthesize, prototype and experiment with novel low-impedance robotic systems that can interact safely and intuitively with human workers while having manufacturing capabilities that meet the requirements of the aerospace industry, 2) To conceptualize, synthesize, prototype and experiment with auxiliary robotic systems that augment the capabilities of existing robots so that they can safely provide the forces, accuracy and high bandwidth required to perform manufacturing and machining operations in the aerospace industry, 3) To conceptualize, prototype and experiment with means of providing human users with intuitive haptic feedback when interacting with robots in the performance of a joint task.