Presidential Young Investigator Award: Robot Dynamics and Control

总统青年研究员奖：机器人动力学与控制

• 批准号: 8451074
• 负责人: Ming Leu
• 金额: $ 10.75万
• 依托单位: Cornell University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1985
• 资助国家: 美国
• 起止时间: 1985-08-01 至 1987-07-01
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8451074&HistoricalAwards=false
• 关键词: Presidential; Young; Investigator; Award; Robot

This project addresses several robotics research issues. They include generation of robot dynamics equations of motion using symbolic manipulation software; control concepts which will increase speed of response, robustness, and ability to reject disturbances; experimental studies on the relationship of end-effector stiffness to joint and link flexibilities; and robot simulation using solid modeling with an emphasis on collision avoidance.

该项目解决了几个机器人研究问题。 它们包括 机器人动力学运动方程的符号生成 操纵软件;控制概念，将提高速度的 响应、鲁棒性和抗干扰能力;实验 末端执行器刚度与关节和连杆的关系研究 灵活性;和机器人模拟使用实体建模与 强调避免碰撞。