US-Turkey Cooperative Research: An Event-Driven Approach to Autonomous Assembly

美国-土耳其合作研究：事件驱动的自主装配方法

• 批准号: 9819890
• 负责人: Daniel Koditschek
• 金额: $ 3.54万
• 依托单位: Regents of the University of Michigan - Ann Arbor
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1999
• 资助国家: 美国
• 起止时间: 1999-04-01 至 2004-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9819890&HistoricalAwards=false
• 关键词: US; Turkey; Cooperative; Research; Event

9819890KoditsheckDescription: This award is to support a collaborative research by Professor Daniel Koditschek, Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, Michigan, and Professor H. Isil Bozma, Department of Electrical and Electronic Engineering, Bogazici University, Istanbul, Turkey. They plan to conduct research for the conceptual design of assembler robots with specific parameters and capabilities, to enable these robots to work with very loose restrictions on the exact initial positioning of the parts to be assembled. The proposed work will investigate the design of the assembler robots, both formally and experimentally. The central technical idea is to use carefully designed "objective functions" for each part to encode the desired assembly goal. A robot controller is designed that essentially solves the partially competitive multi-layer game presented by these multiple objectives and, in so doing, moves parts to their designed final locations with no collisions along the way. The scientists will first formalize the intrinsic properties of the two-dimensional exogenous assembly and construct a class of provably correct feedback controllers for the exogenous two degrees of freedom assemblies. They then will start the study of the two dimensional endogenous assemblies and propose a class of controllers that are ensured of accomplishing a given assembly task. They will then implement the developed control algorithm on the assembler EDAR robot and conduct a systematic experimentation for its assessment. Scope: This project will deal with a problem of great importance. The topic of autonomous assembly of multiple objects is important in the planning for agile manufacturing in the future. The proposed research is innovative in creating directly a machine dedicated to the performance of assembly tasks. The P.I.s propose to apply and combine game theory with control and dynamical systems analysis. The US and Turkish P.I.s are considered exceptionally well qualified for this innovative research. The collaboration will bring complimentary capabilities to this effort and will enhance the benefit of the research. Bogazici University is one of Turkey's top universities and it has a strong program in mechatronics. The proposal meets INT objectives for supporting mutually beneficial international collaboration. This project is co-funded by the International Programs and the Division of Design, Manufacture, & Industrial Innovation.

9819890 Koditscheck描述：该奖项旨在支持密歇根大学电气工程和计算机科学系丹尼尔·Koditschek教授和密歇根大学安阿伯分校H. Isil Bozma，土耳其伊斯坦布尔Bogazici大学电气和电子工程系。 他们计划对具有特定参数和功能的装配机器人的概念设计进行研究，使这些机器人能够在待装配部件的精确初始定位方面受到非常宽松的限制。 建议的工作将调查的装配机器人的设计，正式和实验。 其核心技术思想是使用精心设计的“目标函数”为每个部分编码所需的装配目标。 一个机器人控制器的设计，基本上解决了部分竞争性的多层游戏，这些多个目标，并在这样做，移动部件到他们设计的最终位置，没有碰撞沿着。 科学家们将首先形式化二维外生装配的内在性质，并为外生两自由度装配构造一类可证明正确的反馈控制器。 然后，他们将开始研究的二维内生组件，并提出了一类控制器，确保完成给定的装配任务。 然后，他们将在装配EDAR机器人上实施开发的控制算法，并对其进行系统的实验评估。范围：该项目将处理一个非常重要的问题。 多对象的自主装配是未来敏捷制造规划中的重要课题。 所提出的研究是创新的，直接创建一个机器专用于装配任务的性能。 P.I.s建议应用和联合收割机游戏理论与控制和动态系统分析相结合。 美国和土耳其的PI被认为非常适合这项创新研究。 合作将为这项工作带来互补的能力，并将提高研究的效益。 博阿齐奇大学是土耳其顶尖大学之一，拥有强大的机电一体化项目。 该提案符合INT支持互利国际合作的目标。 该项目由国际项目和设计、制造、工业创新部门共同资助。