Control Design of flexible link robots with smart materials

智能材料柔性链接机器人控制设计

基本信息

批准号：
1815210
负责人：
金额：
--
依托单位：
Swansea University
依托单位国家：
英国
项目类别：
Studentship
财政年份：
2016
资助国家：
英国
起止时间：
2016 至无数据
项目状态：
已结题

来源：
https://gtr.ukri.org/projects?ref=studentship-1815210
关键词：
Control Design flexible link robots

项目摘要

With the great development of control theory and technologies in related areas, robotic systems play an increasingly important role in people's ordinary life and in many military areas. Light-weight flexible-link robot requires less power consumption for high speed operations, which makes it more feasible than the conventional rigid-link robots in many applications, such as nuclear sites, underground waste deposit, deep sea and space applications. These advantages greatly motivate the research in modelling and control of flexible robots. The approaches established for control of rigid-link manipulators are theoretically no longer applicable to flexible ones. Complicated control strategies have had to be investigated to further improve the performance of flexible robots. These reasons have motivated continuous research efforts on the controller design for flexible link robot.This project also aims to study smart materials robot, namely a flexible link robot embedded with piezoelectric materials, such that the residual deflections of a flexible link can be effectively eliminated. Since piezoelectric materials can be founded along a beam and have excellent electromechanical property to achieve the transformation between the mechanical deformation and electrical field, they are ready to serve as distributed actuators and sensors of mechanical deformations. Therefore, a kind of "smart structures", i.e., a structure with networks of highly distributed actuators, sensors and processors can be formed by piezoelectric materials. With application of smart materials, better control performance is expected to be obtained easily. This is our motivation for considering the control problem of flexible link robots by means of smart materials.

随着相关领域控制理论和技术的巨大发展，机器人系统在人们的普通生活和许多军事领域都起着越来越重要的作用。轻巧的灵活链接机器人需要更少的功耗来进行高速操作，这比许多应用中的传统刚性链接机器人（例如核场所，地下废物沉积，深海和深海和空间应用）更可行。这些优势极大地激发了对灵活机器人建模和控制的研究。从理论上讲，用于控制刚性链接操作器的方法不再适用于柔性。必须研究复杂的控制策略，以进一步提高灵活机器人的性能。这些原因激发了针对灵活链接机器人的控制器设计的持续研究工作。该项目还旨在研究智能材料机器人，即嵌入了压电材料的灵活链接机器人，因此可以有效消除灵活链路的残差偏转。由于可以沿着梁建立压电材料，并具有出色的机电特性以实现机械变形和电场之间的转化，因此它们可以用作机械变形的分布式执行器和传感器。因此，可以通过压电材料形成一种“智能结构”，即具有高度分布的执行器，传感器和处理器网络的结构。通过应用智能材料，预计将轻松获得更好的控制性能。这是我们通过智能材料考虑灵活链接机器人的控制问题的动机。