REG: Robotic Systems Control Research Lab

根据这项研究设备赠款购买的设备将使人们能够更广泛地研究1)带有视觉子系统的实时数字控制系统，2)两连杆柔性机械臂，3)Stewart平台在铣削和磨削中的应用。这些研究的动机是三个方面：1)如果没有广泛的计算机接口重新布线，就无法用现代算法控制商用机器人手臂；2)许多工业系统(如建筑起重机、坦克炮管)无法满足控制文献中常见的假设；3)商用武器的位置不准确和力重比低，不适合某些机械加工应用。这一努力的结果预计将影响1)数字控制系统的设计和实施；2)并联机械手的工业加工应用；3)将非线性控制理论扩展到以前难以处理的系统。

The equipment purchased under this research equipment grant will enable more extensive research into 1) real-time digital control system with vision subsystem, 2) two-link flexible robot arm and, 3) Stewart Platform uses in milling and grinding. These studies are motivated by three concerns: 1) The inability to control commercial robot arms with modern algorithms without extensive rewiring for computer interfacing; 2) The failure of many industrial systems (e.g. construction crane, tank gun barrel) to satisfy assumptions common in the control literature; 3) The position inaccuracy and low force-to-weight ratio of commercial arms rendering them unsuitable for some machining applications. The results of this effort are expected to impact on 1)digital control systems design and implementation; 2) industrial machining applications of parallel link manipulators and 3) The extension of nonlinear control theory to previously intractable systems.*** //