REU: CAREER: Physics-Based Robotic Manipulation Planning and Control

罗切斯特大学凯文分校IIS-9875469 Lynch$50,000.CAREER：基于物理学的机器人操作规划和控制这是为期四年的连续奖项的第一年。这项研究的目标是开发利用任务机制的机器人操作规划器和控制器。有效地利用摩擦力、重力和动态力可以取代额外的执行器，从而开发出廉价、简约的机器人。这些想法将被应用于(1)工业零件进给，其中操作规划器将允许一个简单的双关节机器人来推送和滚动零件，以在传送带上定位和定位三维零件，以及(2)用于人机协同操作的运动规划。协作机器人是一种被动可编程的约束机，它通过建立虚拟引导表面来帮助人类完成操作任务。问题是要找到“符合人体工程学的正确”向导-在所有引导对象到达目标配置的向导中，哪一个使任务对人类来说最容易？这将在汽车装配中重复性任务的背景下进行调查。这项旨在实现可访问性、极简主义机器人技术的工作将由两门新课程的开发来补充。第一个是大学一年级/二年级的机电一体化设计课程，它将利用目前正在开发的机电一体化设计实验室。本课程和实验将允许本科生在职业生涯早期参与研究和独立项目。第二门课程是关于机器人操纵和工业自动化的力学和算法的高级/研究生水平课程。

IIS-9875469Lynch, KevinUniversity of Rochester$50,000.00CAREER: Physics-Based Robotic Manipulation Planning and ControlThis is the first year flitiding of a four-year continuing award. The goal of this research is to develop robot manipulation planners and controllers which exploit task mechanics. The effective use of friction, gravity, and dynamic forces can substitute for extra actuators, allowing the development of inexpensive, minimalist robots. The ideas will be applied to problems in (1) industrial parts feeding, where the manipulation planner will allow a simple two-joint robot which can push and roll parts to position and orient three-dimensional parts on a conveyor, and (2) motion planning for human-robot collaborative manipulation. A collaborative robot is a passive programmable constraint machine which sets up virtual guiding surfaces to assist a human in manipulation tasks. The problem is to find "ergonomically correct" guides --- of all the guides that lead the object to the goal configuration, which makes the task easiest for the human? It will be investigated in the context of repetitive tasks in auto assembly. This work toward accessible, minimalist robotics will be complemented by the development of two new courses. The first is a fresbman/sophomore-level mechatronics design course which will make use of the mechatronics design lab currently under development. This course and the lab will allow undergraduates to get involved in research and independent projects early in their careers. The second course is a senior/graduate-level course on mechanics and algorithms for robotic manipulation and industrial automation.