Vision-Based Control of Dextrous Manipulators in High Precision Tasks

高精度任务中灵巧机械手的基于视觉的控制

• 批准号: 9700702
• 负责人: Michael Stanisic
• 金额: $ 36.43万
• 依托单位: University of Notre Dame
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1997
• 资助国家: 美国
• 起止时间: 1997-06-15 至 2001-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9700702&HistoricalAwards=false
• 关键词: Vision; Based; Control; Dextrous; Manipulators

EEC-9700702 Abstract The award provides funding to the University of Notre Dame under the direction of Dr. Michael M. Stanisic, for the support of a Combined Research-Curriculum Development project entitled, "Vision-Based Control of Dextrous Manipulators in High Precision Tasks." This project will develop a four-course sequence for upper-level undergraduate and entry-level graduate students at the University of Notre Dame. The sequence will teach students about the design and control of a new class of dextrous manipulators, capable of manufacturing tasks which are prohibitively difficult or costly to achieve with existing technology. The capstone course in the sequence involves students programming a dextrous manipulatory to perform such manufacturing tasks, tasks drawn from an Industrial Advisory Panel, which is a key element of this project. The research aspect of the proposal extends the technologies involved, developing a new type of singularity-free manipulator, as well as extending the calibration-free, vision-based control algorithm to an easily used "point-and-click" means of task programming.

该奖项为圣母大学在Michael M. Stanisic博士的指导下提供资金，用于支持一项名为“高精度任务中灵巧机械手的基于视觉的控制”的联合研究-课程开发项目。该项目将为圣母大学的高年级本科生和入门级研究生开发四门课程。该序列将教学生设计和控制一类新的灵巧的机械手，能够制造任务，是难以实现或昂贵的现有技术。该系列的顶点课程包括学生编写一个灵巧的操作程序来执行这些制造任务，这些任务来自工业咨询小组，这是本项目的关键要素。该方案的研究方面扩展了所涉及的技术，开发了一种新型的无奇点机械手，并将无校准、基于视觉的控制算法扩展为一种易于使用的“点击式”任务规划方法。