Japan JSPS Program: Force Regulation and Contour following in the Presence of Unknown Constraints

该奖项为日本东京工业大学的Hemanshu Lakhani博士提供为期24个月的日本科学促进会（JSPS）博士后奖学金。Lakhani博士将与机械工程科学系教授yoshiaki Ohkami博士合作进行一个名为“未知约束下的力调节和轮廓跟踪”的研究项目。提出的研究将集中于高性能力控制系统的设计，特别是面向工业轮廓跟踪应用。虽然过去已经确定了几种力控制方法，但缺乏实验证据来验证和比较各种方法。此外，到目前为止提出的许多硬件似乎与几个严格的工业限制不兼容，例如需要大范围和最大限度地使用现有的工厂硬件。提出的研究将采用设计一种小型、高性能、轻量级的力控制系统的方法，该系统可以方便有效地附着在工厂机器人上。作为该项目的一部分，还将构建一个2链路高速力控制系统，适当的控制器和其他硬件。提出的研究将具体检查力控制器的设计在未知的轮廓变化的存在，例如工厂环境。本研究的主要目标是通过现场实验证明，所提出的力控制方法和硬件可用于充分执行工厂轮廓跟踪测试，具有精度、速度和可靠性。结果将很容易适用于许多重要的任务，包括塑料板、平板玻璃和其他这种性质的材料的构造。* * *

Lakhani 9704003 This award supports a 24 month Japan Society for the Promotion of Science (JSPS) Postdoctoral Fellowship for Dr. Hemanshu Lakhani at the Tokyo Institute of Technology, Tokyo, Japan. Dr. Lakhani will work with Dr.Yoshiaki Ohkami, Professor, Department of Mechanical Engineering Science, on a research project entitled, "Force Regulation and Contour Following in the Presence of Unknown Constraints." The proposed research will focus on the design of high- performance force control systems geared specifically toward industrial contour following applications. While several force control approaches have been identified in the past, there is a dearth of experimental evidence to validate and compare the various approaches. In addition, much of the hardware proposed up until now appear incompatible with several strict industrial constraints, such as the need for large-reach and maximum use of already existing factory hardware. The proposed research will take the approach of designing a small, high-performance, lightweight force control system that can be conveniently and effectively affixed to a factory robot. As part of the project, a 2- link, high-speed force control system, appropriate controllers, and other hardware will also be constructed. The proposed research will specifically examine the design of force controllers in the presence of unknown contour variations, examples being factory environments. The primary goal of the proposed research is to demonstrate through on-site experiments that the proposed force control methods and hardware can be used to adequately perform factory contour following tests with precision, speed, and reliability. Results would be easily applicable to a number of important tasks, including the construction of sheet plastic, plate glass, and other materials of this nature. ***