US-Mexico Cooperative Research: Adaptive Control of Robot Manipulators

美墨合作研究：机器人机械手的自适应控制

• 批准号: 8902476
• 负责人: Mark Spong
• 金额: $ 0.83万
• 依托单位: University of Illinois at Urbana-Champaign
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1989
• 资助国家: 美国
• 起止时间: 1989-07-01 至 1991-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8902476&HistoricalAwards=false
• 关键词: US; Mexico; Cooperative; Research; Adaptive

This award will support Professor Mark Spong of the University of Illinois-Urbana in a research collaboration with Dr. Romeo Ortega of the Universidad Nacional Autonoma (UNAM) de Mexico. The investigators intend to combine techniques of adaptive control theory together with detailed studies of robot dynamics to focus on the problem of high performance robot control. Special emphasis will be placed on important non-rigid body dynamic effects, such as joint flexibility, because these effects are well known to destabilize adaptive control algorithms that ignore them. One of the goals of robotics research is to develop so-called intelligent robots capable of adapting their behavior to uncertainties present in the environment. Achieving this goal would lead to important benefits in areas such as manufacturing, space exploration and inspection. While the investigators intend to investigate a number of issues in adaptive motion and force control of robots, they have chosen as the initial focus of their research the problem of joint compliance in adaptive robot control. Such compliance is an extremely difficult open problem, whose solution would be a significant contribution towards decreasing cycle time and increasing the payload capacity of industrial robots. This collaboration, combining the expertise of the U.S. investigator in robot dynamics with the knowledge of the Mexican investigator in adaptive control theory, has the potential to increase our understanding of adaptive controls of robot manipulators.

该奖项将支持大学的Mark Spong教授 伊利诺伊州厄巴纳在一项研究合作与博士罗密欧奥尔特加的 墨西哥国立自治大学。 调查人员 旨在将自适应控制理论技术与联合收割机技术结合起来 机器人动力学的详细研究，重点放在高 性能机器人控制。 将特别强调 重要的非刚体动力学效应，如关节灵活性， 因为众所周知，这些效应会使自适应控制不稳定， 算法会忽略它们。 机器人研究的目标之一是开发所谓的 智能机器人能够使其行为适应不确定性 存在于环境中。 实现这一目标将导致 在制造业、太空探索等领域的重要利益 和检查。 虽然调查人员打算调查一个 机器人自适应运动和力控制中的一些问题， 他们选择了以下问题作为他们研究的最初焦点： 自适应机器人控制中关节顺应性。 这种服从是一种 这是一个非常困难的开放问题，其解决将是一个重大的问题。 有助于减少循环时间和增加有效载荷 工业机器人的能力。 这种合作，结合了 美国机器人动力学研究人员的专业知识， 墨西哥研究人员在自适应控制理论方面的知识， 增加我们对适应性控制的理解的潜力， 机械手