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

该奖项将提供补充支持，使现任奥斯汀得克萨斯大学的Kevin Cleary博士能够与日本筑波机械工程实验室的Tatsuo Arai博士进行为期六个月的合作研究。他们将探索在机器人操作手的运动规划系统中结合多个次级标准的可能性。常见的工业机械手有六个自由度。增加额外的自由度将潜在地扩展这些机械手的能力，使它们能够在散布障碍的环境中执行任务，避免奇点，并变得更灵活。Cleary已经开发了结合这种多个次级性能标准的算法，并通过计算机模拟将这些算法应用到七自由度机器人系统中。Arai博士和他在机械工程实验室的同事们制造了一种具有七个自由度的直接驱动机械手，并将其应用于缝纫系统。通过将理论和硬件结合在一起，这种合作应该会对冗余机械手的实际实施产生洞察力。

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.