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DEFCOBOT (Design for Control of Flexible Robots)

DEFCOBOT（灵活机器人控制设计）

基本信息

批准号：
EP/R009708/1
负责人：
Ferdinando Rodriguez Y Baena
金额：
$ 30.51万
依托单位：
Imperial College London
依托单位国家：
英国
项目类别：
Research Grant
财政年份：
2017
资助国家：
英国
起止时间：
2017 至无数据
项目状态：
已结题

来源：
https://gtr.ukri.org/projects?ref=EP%2FR009708%2F1
关键词：
DEFCOBOT Design Control Flexible Robots

项目摘要

Flexible robots have light and compliant bodies that allow them to adapt well to unstructured environments. However, due to their deformability, controlling their movements accurately in the presence of disturbances is a challenging task. Additionally, the design and manufacturing of flexible robots is generally conducted without prior analysis of their dynamic performance and involves refinements through successive prototypes. These factors reduce the accuracy and effectiveness of flexible robots in real-world applications, including surgery, inspection and maintenance. Finally, bespoke design and control solutions confine advances in these areas to specific cases. This research aims to produce advanced control methods and design guidelines for different types of flexible robots in order to enhance their performance. To demonstrate the general validity of the proposed methods we have chosen two illustrative applications from our own track record: robot-assisted biopsy and robotic inspection. In the experimental part of the project, the control methods will be validated with two proof-of-concept prototypes from our recent work that are representative of each application. Successful completion of this research will contribute to enhancing the accuracy and effectiveness of flexible robots which is an essential prerequisite for their wider use. Potential applications of the research findings include minimally-invasive robotic surgery, robotic inspection and maintenance.

柔性机器人具有轻便且柔顺的身体，使它们能够很好地适应非结构化环境。然而，由于它们的可变形性，在存在干扰的情况下准确地控制它们的运动是一项具有挑战性的任务。此外，柔性机器人的设计和制造通常在没有对其动态性能进行预先分析的情况下进行，并且涉及通过连续原型的改进。这些因素降低了柔性机器人在实际应用中的准确性和有效性，包括手术，检查和维护。最后，定制的设计和控制解决方案将这些领域的进展限制在特定情况下。本研究旨在为不同类型的柔性机器人提供先进的控制方法和设计指南，以提高其性能。为了证明所提出的方法的一般有效性，我们从我们自己的跟踪记录中选择了两个说明性的应用：机器人辅助活检和机器人检查。在该项目的实验部分，控制方法将通过我们最近工作中的两个概念验证原型进行验证，这些原型代表了每个应用。这项研究的成功完成将有助于提高柔性机器人的准确性和有效性，这是其更广泛使用的必要先决条件。研究结果的潜在应用包括微创机器人手术，机器人检查和维护。