SGER: Real-Time Continuum Manipulation

SGER：实时连续操纵

• 批准号: 0844954
• 负责人: Ian Walker
• 金额: --
• 依托单位: Clemson University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2008
• 资助国家: 美国
• 起止时间: 2008-09-01 至 2010-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0844954&HistoricalAwards=false
• 关键词: SGER; Real; Time; Continuum; Manipulation

This SGER project will conduct basic theoretical and empirical work in control of continuous backbone "continuum" robot manipulators. The key goal of the project is to demonstrate, in hardware, practical control of continuum robot manipulation. Continuum structures have the potential to transform the nature of many robot applications. However, deployment of these robots is not yet practical, in large part due to difficulties in applying conventional robot control techniques. The proposed one year exploratory research is intended to lay the foundations for wider continuum robot research and application by establishing the practical ability of new techniques to successfully control continuum robots. We will design and implement a series of novel continuum robot controllers, taking into account the effects of the compliance built into these systems. The controllers will be tested using a unique hardware test bed at Clemson University featuring the OctArm series of continuum robot arms.We will implement all the developed controllers on the OctArm hardware, and test across a wide variety of trajectories and manipulation tasks.

本SGER项目将开展连续骨干“连续体”机器人操作手控制的基础理论和实证工作。该项目的主要目标是在硬件上演示连续体机器人操作的实际控制。连续体结构有可能改变许多机器人应用的性质。然而，这些机器人的部署还不实际，在很大程度上是由于应用传统机器人控制技术的困难。为期一年的探索性研究旨在通过建立新技术成功控制连续统机器人的实践能力，为更广泛的连续统机器人研究和应用奠定基础。我们将设计和实现一系列新颖的连续体机器人控制器，考虑到这些系统内置的顺应性的影响。控制器将在克莱姆森大学的一个独特的硬件试验台上进行测试，该试验台采用了OctArm系列连续机械臂。我们将在OctArm硬件上实现所有开发的控制器，并在各种轨迹和操作任务中进行测试。