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

柔性机械手和移动机器人的动力学、控制和路径规划

• 批准号: 261945-2007
• 负责人: Fotouhi, Reza
• 金额: $ 1.24万
• 依托单位: University of Saskatchewan
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2007
• 资助国家: 加拿大
• 起止时间: 2007-01-01 至 2008-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=365023
• 关键词: Dynamics; control; path; planning; flexible

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.

本研究的长期目标是将联合收割机的动力学与控制研究和移动的机器人导航研究结合到移动的机器人的研究中。移动的机器人路径规划的目的是寻找一条从起始位置到目标位置的无碰撞路径。移动的机械手的目标是能够控制机器人手臂的运动，而它是安装在一个移动的机器人和导航在拥挤的已知或未知的setting.This类型的机器人技术可以用于许多加拿大工业，如农业和采矿，或在加拿大的空间任务的贡献。根据欧洲航天局的说法，移动的机器人助手可以被视为火星使命中管家任务的一部分。机器人可以在对人类有害的环境中使用。该研究将产生新产品（在线路径规划和振动控制软件）或服务（在危险环境中工作的机器人导航，制造业或研究部门）。该研究计划包括计算机模拟和物理实验。计算机仿真阶段的新奇在于通过使用有限元分析（FEA）、计算效率以及集成分别为FEA和控制设计的商业软件来允许机械手部件具有更大的灵活性。轮式移动的机器人在室内和室外环境中的导航和控制的新奇在于遵循给定的速度分布和在不平坦表面上的导航。移动的机械手的运动规划和控制的新奇在于其在农业中的应用。实验将在萨斯喀彻温大学新成立的机器人实验室进行，该实验室由CFI设备资助。NSERC基金将用于培养研究生和科学家，他们将在工业，大学和研究部门就业。研究结果将被转移到位于哥伦比亚的制造业的实践工程师、空间科学家和采矿工程师那里，我已经在那里建立了合作或联系。