Dynamics, control, and path planning of flexible manipulators and mobile robots

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The long-term goal of this proposal is to combine research on the dynamics and control of flexible robot manipulators and navigation of mobile robots, into the studies of mobile manipulators. The purpose of mobile robot path planning is to find a path from a start position to a goal position with no collisions. The goal of mobile manipulators is being able to control motion of a robotic arm while it is mounted on a mobile robot and navigating in a crowded known or unknown setting.This type of robotic technology can be used in many Canadian industries such as farming and mining, or in Canadian contribution in space missions. Mobile Robotic Assistant can be seen as part of house keeping tasks in Mars mission, according to the European Space Agency. The robots can be used in environments hazardous for humans. This research will lead to new products (software for online path planning and vibration control), or services (navigation of robots working in hazardous environment, manufacturing, or research sectors).This research program consists of both computer simulations and physical experiments. The novelty of the computer simulation phase is in admitting more flexibility in the manipulator's components by using Finite Element Analysis (FEA), computational efficiency, and integrating commercial software which are separately designed for FEA and control. The novelty of navigation and control of wheeled mobile robot in indoor and outdoor settings is on following a given velocity profile and navigation on an uneven surface. The novelty of motion planning and control of mobile manipulators is on its application to farming. Experimentation will be performed in a newly established robotics lab at the University of Saskatchewan, founded by a CFI equipment grant. The NSERC fund will be used to train graduate students and scientists who will be employed in industries, universities, and research sectors. Results will be transferred to practicing engineers in Canadian-based manufacturing industries, space scientists, and mining engineers, where I have already established collaboration, or contact.