U.S.-France Cooperative Research: The Modeling and Control of High Performance Mechanical and Robotic Systems

这个为期三年的奖项支持麻省理工学院的Steven Dubowsky和法国巴黎皮埃尔和玛丽居里大学机器人实验室的Jean- Claude Guinot在机械工程方面的美法合作研究。他们的研究目标是为高性能、高速机械和机器人系统的设计开发一系列精确的、集成的动态模型和分析工具。这些模型将深入了解先进、高速系统中退化行为的本质，并为预测系统问题提供基础。研究人员还将为高度灵活的机器人操纵者开发控制算法。Dubowsky博士为此次合作带来了高性能机械系统空间动力学建模和控制方法开发方面的专业知识。他为机械手开发了新的控制算法。这是由法国调查人员在复杂机械系统的空间运动学领域的贡献补充。他们在机械臂、传感器集成和实时控制计算等领域发展了广泛的实验能力。这个项目将促进我们对高性能机械系统的设计和控制的理解。这将导致预测模型和有效的控制算法的退化问题和改进的机器人系统。

This three-year award supports U.S.-France cooperative research in mechanical engineering between Steven Dubowsky of the Massachusetts Institute for Technology and Jean- Claude Guinot of the Laboratory for Robotics, Pierre and Marie Curie University, Paris, France. The objective of their research is to develop a series of accurate, integrated dynamic models and analytical tools for the design of high performance, high speed mechanical and robotic systems. These models will provide insights into the nature of degrading behavior in advanced, high speed systems and could provide a foundation for predicting a system's problems. The investigators will also develop control algorithms for highly flexible robotic manipulators. Dr. Dubowsky brings to this collaboration expertise in the development of methods for modeling the spatial dynamics and control of high performance mechanical systems. He has developed new control algorithms for robotic manipulators. This is complemented by the French investigators' contributions in the area of spatial kinematics of complex mechanical systems. They have developed extensive experimental capability in the areas of manipulators and integration of sensors and computation for real time control. This project will advance our understanding of design and control of high performance mechanical systems. It will result in a predictive model and effective control algorithms for degradation problems and improved robotic systems.