US-Egypt Cooperative Research: Modeling and Control of Robotic Manipulators with Flexible Links and Joints

该奖项旨在支持伊利诺伊大学芝加哥分校(UIC)机械工程系Ahmed Shabana博士和埃及开罗大学机械设计与生产系Said Megahed博士之间的合作研究项目。研究的目标是利用现代控制技术改进目前机器人操作手的设计方法。具有智能控制策略的轻量级机器人消除了机器人的振动，实现了高速操作。这一目标可以通过开发没有和/或具有柔性连杆和关节的机器人机械手的可靠动态模型来实现。将对不同的控制策略进行评估，以使机器人TCP遵循期望的轨迹。对这些控制策略的性能进行比较，以确定最优控制系统。控制的努力是准确地定位机器人终点Tcp并抑制机器人的振荡。可以使用和测试直流马达和/或压电式致动器以实现精确控制。采用所开发的控制系统，对机器人的性能和鲁棒性进行了实验验证。采用有限元绝对节点坐标方法对该柔性机器人进行动力学仿真。在该公式中，使用全局位置和坡度坐标作为节点坐标。绝对节点坐标公式得到一个恒定的质量矩阵，因此离心力和科里奥利惯性力都恒定为零。范围：该项目的合作将包括埃及小组专注于实验研究，而伊利诺伊大学芝加哥分校的小组将专注于与小变形和大变形问题有关的分析和计算研究。UIC的一名研究生将参与这一国际合作。几名埃及学生将参加开罗大学的实验工作。该项目得到了美国-埃及联合基金计划的支持，该计划为两国的科学家和工程师提供资助，以开展这些合作活动。

0314378ShabanaDescription: This award is to support a cooperative research project between Dr. Ahmed Shabana, Department of Mechanical Engineering, University of Illinois, Chicago (UIC), Illinois and Dr. Said Megahed, Department of Mechanical Design and Production, Cairo University, Cairo, Egypt. The research goal is to improve the current design methodologies of robotic manipulators using modern control techniques. A lightweight robot with smart control strategies eliminates the robot vibrations and achieves high-speed operations. This goal may be achieved with the development of a reliable dynamic model of a robotic manipulator without and/or with flexible links and joints. Different control strategies will be evaluated in order to make the robot TCP follow a desired trajectory. The performance of these control strategies will be compared in order to determine the optimum control system. The control effort is to accurately position the robot endpoint TCP and to dampen the robot oscillations. DC-motors and/or piezoelectric actuators may be used and tested for accurate control. Experimental verification of the performance and robustness of the robot with the developed control system will be carried out. The dynamic simulation for the very flexible robot will be obtained using the finite element absolute nodal coordinate formulation. In this formulation global position and slope coordinates are used as the nodal coordinates. The absolute nodal coordinate formulation leads to a constant mass matrix, and as a consequence, the centrifugal and Coriolis inertia forces are identically equal to zero. Scope: The collaboration in this project will involve the Egyptian group focusing on the experimental studies, while the group at the University of Illinois at Chicago will be focused on the analytical and computational studies related to the small and large deformation problems. A graduate student at UIC will participate in this international collaboration. Several Egyptian students will participate in the experimental work at Cairo University. This project is being supported under the US-Egypt Joint Fund Program, which provides grants to scientists and engineers in both countries to carry out these cooperative activities.