Engineering Research Equipment Grant: Robot, Peripherals and Computer

工程研究设备资助：机器人、外围设备和计算机

• 批准号: 8505843
• 负责人: Tzyh-Jong Tarn
• 金额: $ 16.05万
• 依托单位: Washington University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1985
• 资助国家: 美国
• 起止时间: 1985-09-15 至 1988-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8505843&HistoricalAwards=false
• 关键词: Engineering; Research; Equipment; Grant; Robot

Equipment including a VAX-11/750 computer and a second PUMA 560 robot will be acquired. This equipment will support research on the automatic control of one- and two-arm robot systems using differential geometric system theory and techniques, and experimental implementation and evaluation of the related advanced task-level feedback control systems for such robots using high speed computers in the real-time control. The ultimate thrust of this research is the development of a solid systems and control-theoretic foundation for an efficient digital hardware/software implementation of advanced feedback control of robotic systems, leading to "intelligent" task-level automation.

将购置包括一台VAX-11/750计算机和第二台PUMA 560机器人在内的设备。该设备将支持利用微分几何系统理论和技术对单臂和双臂机器人系统进行自动控制的研究，以及使用高速计算机进行实时控制的相关先进任务级反馈控制系统的实验实现和评估。这项研究的最终目的是为高效的数字硬件/软件实现机器人系统的高级反馈控制开发坚实的系统和控制理论基础，从而实现“智能”的任务级自动化。