Japan (STA) Postdoctoral Program: Hardware Implementation of Redundant Manipulator Inverse Kinematic Simulations

日本（STA）博士后项目：冗余机械臂逆向运动仿真的硬件实现

• 批准号: 8921120
• 负责人: Kevin Cleary
• 金额: $ 0.36万
• 依托单位: Individual Award
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1990
• 资助国家: 美国
• 起止时间: 1990-03-15 至 1991-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8921120&HistoricalAwards=false
• 关键词: Japan; STA; Postdoctoral; Program; Hardware

This award will provide supplementary support to enable Dr. Kevin Cleary, presently of the University of Texas, Austin, to conduct collaborative research for six months with Dr. Tatsuo Arai of the Mechanical Engineering Laboratory in Tsukuba, Japan. They will explore the potential for incorporating multiple secondary criteria in a motion planning system for robot manipulators. Common industrial manipulators have six degrees of freedom (DOF). Adding additional DOF will potentially extend the capabilities of these manipulators to enable them to perform in obstacle strewn environments, avoid singularities, and be more dextrous. Cleary has developed algorithms for incorporating such multiple secondary performance criteria and has applied these to a seven DOF robot system via computer simulation. Dr. Arai and his colleaques at the Mechanical Engineering Lab have built a direct drive manipulator with seven DOF and applied it to a sewing system. By bringing theory and hardware together, this collaboration should yield insights into the practical implementation of redundant manipulators.

该奖项将提供补充支持，使凯文博士 克利里，目前的得克萨斯大学，奥斯汀，进行 与新井达雄博士合作研究了六个月， 日本筑波机械工程实验室。 他们将 探索纳入多个次要标准的可能性 在用于机器人操纵器的运动规划系统中。 常见的工业机械手有六个自由度（DOF）。 添加额外的自由度将潜在地扩展 这些机械手，使他们能够在障碍物散布， 环境，避免奇异性，并且更加复杂。 克利里已经 开发的算法，用于将这种多个次级 性能标准，并已将其应用于七自由度机器人 系统通过计算机模拟。 新井博士和他的同事们 机械工程实验室已经建立了一个直接驱动机械手， 七自由度，并将其应用于缝纫系统。 通过将理论和 硬件结合在一起，这种合作应该产生对 冗余机械手的实际实现。