US-Italy Cooperative Research: Multiple Robot Control

0406519Lumia 这个为期两年的奖项支持美国和意大利在多机器人手臂力/阻抗控制和视觉伺服方面的合作研究，涉及新墨西哥大学的 Ron Lumia 和意大利那不勒斯大学的 Bruno Siciliano 博士。 该研究的目的是探索单个机器人的视觉伺服和力/阻抗控制，并将结果扩展到多个机器人。 该项目利用了两个实验室的互补能力。 那不勒斯大学（PRISMA 实验室）为其两台柯马机器人配备了快速实时控制系统。 新墨西哥大学 (UNM) 开发了快速视觉伺服算法。 PRISMA 系统的使用将允许执行 UNM 算法并有效测量性能。此次合作将把快速机器人控制与双机器人应用的快速传感处理结合起来。 这将推进双机器人控制理论并通过实验验证结果。 研究结果将深入了解单机器人和双机器人配置的基于主动视觉的反馈控制，展示新墨西哥大学的主动视觉系统软件用作单臂和双臂机器人中的物体位置反馈，并开发用于简化运动动态方程的机器人控制新理论。 研究结果将对制造业和所有先进的机器人应用产生影响，在这些应用中机器人必须快速组装物体。

0406519LumiaThis two-year award supports US-Italy cooperative research in multiple robot arm force/impedance control and visual servoing involving Ron Lumia, University of New Mexico, and Dr. Bruno Sicialiano at the University of Naples, Italy. The objective of the research is to explore visual servoing and force/impedance control on a single robot and to expand the results to multiple robots. The project takes advantage of the complementary capabilities of the two laboratories. The University of Naples (PRISMA lab) has a fast real time control system for its two Comau robots. The University of New Mexico (UNM) has developed fast visual servoing algorithms. The use of the PRISMA system will allow the exercise of the UNM algorithms and measure performance effectively.The collaboration will combine fast robot control with very fast sensory processing for dual robot applications. This will advance the theory of dual robot control and experimentally verify the results. The results of the research will develop insight into active vision based feedback control for single robots and dual robot configurations demonstrate UNM's active vision system software used as object position feedback in single and dual arm robots, and develop new theory for controlling robots that simplifies the dynamic equations of motion. The results will have implications for manufacturing and all advanced robotic applications in which robots must rapidly assembly objects.