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

Lakhani 9704003该奖项支持日本科学促进协会（JSPS）为日本东京工业大学的Hemanshu Lakhani博士提供为期24个月的博士后奖学金。 Lakhani博士将与机械工程科学系教授Yoshiaki Ohkami博士合作开展一个名为“在未知约束条件下的力调节和轮廓跟踪”的研究项目。" 拟议的研究将集中在设计高性能的力控制系统，专门面向工业轮廓以下的应用。 虽然在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。 拟议的研究将采取的方法设计一个小，高性能，重量轻的力控制系统，可以方便，有效地附加到工厂机器人。 作为该项目的一部分，还将建造一个双链路高速力控制系统、适当的控制器和其他硬件。 拟议的研究将专门研究在未知的轮廓变化的存在下，力控制器的设计，例如工厂环境。 所提出的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以用于充分执行工厂轮廓跟踪测试的精度，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，平板玻璃和其他材料的这种性质的建设。 ***

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. ***