Engineering Research Equipment: A Basic Hardware Configuration for Robotics Research

该项目为采购设备提供资源，以支持佐治亚理工学院的机器人研究。目前的研究方向是最优控制和自适应控制在机器人中的应用。在学习控制和协作机器人方面的其他工作也在进行中。这个项目的持续进展需要机器人硬件的可用性，包括两个手臂，每个手臂有两个关节和一个计算机控制系统。研究要求，武器应该是快速和相当大的。加州大学伯克利分校开发的“伯克利”武器满足了这些要求，而且比类似的商业武器便宜得多。在此提供的资源的主要部分是为购买必要的部分，以建设两个“伯克利”武器的资金。还提供了一台计算机和支持设备，以便对机器人控制器进行测试。

This project provides resources for the procurement of equipment to support robotics research at the Georgia Institute of Technology. Current research is directed toward the application of optimal and adaptive control to robotics. Additional work in learning control and cooperating robots is also in progress. Continued progress in this project requires the availability of robot hardware, comprising two arms with two joints each and a computerized control system for each arm. Research requirements dictate that the arms should be fast and fairly massive. The "Berkeley" arm developed at the University of California at Berkeley meets these requirements, and is much less costly than similar commercially available arms. A major part of the resources provided herein is for funding to purchase the necessary parts to construct two "Berkeley" arms. Also provided are a computer and support equipment to enable testing of robot controllers.