Advanced tools for flexible robotics

用于灵活机器人技术的先进工具

• 批准号: 461709-2013
• 负责人: Gosselin, Clement
• 金额: $ 19万
• 依托单位: Université Laval
• 依托单位国家: 加拿大
• 项目类别: Collaborative Research and Development Grants
• 财政年份: 2014
• 资助国家: 加拿大
• 起止时间: 2014-01-01 至 2015-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=556408
• 关键词: Advanced; tools; flexible; robotics

This project aims to develop intelligent solutions for effective, flexible and adaptive task performance with tools or parts held by a robot using a versatile gripper, thereby leading the way to a new generation of robotic systems. The solutions developed will include the capability to properly grasp or regrasp objects or tools, to determine the feasibility of a given task with a given grasp, to plan regrasping trajectories if required, to adapt to changes in the environment and to effectively perform tasks that may require position, force or hybrid control capabilities. To this end, two new concepts of robotic hands will be developed and built. One of the hands will be designed to manipulate common industrial objects or tools while the other will be based on an anthropomorphic approach. Multi-modal tactile sensing components with extended capabilities will also be developed and integrated into the robotic hands. These sensors will be capable of detecting objects grasped, vibrations induced by contacts with the environment and other stimuli. Signal processing techniques will be developed in order to transform the sensor outputs into high-level information that can be used in a grasping and task performance scenario. For example, the robot will be capable to determine whether a given task can be performed with a tool based on the pose of the grasped tool and to plan regrasping maneuvers if required, thereby greatly improving the flexibility, adaptability and autonomy of robotic manipulators. Also, a force/torque sensor will be developed in order to provide an effective means of determining the external loads and guide the tasks accordingly. Finally, all results will be integrated into functional prototypes that will be used to produce convincing industry-relevant demonstrations of the solutions developed. More flexible and adaptable robots have the potential to rewrite the rules of manufacturing automation by opening new possibilities such as fully automated small series, autonomous agile manufacturing, reliable automatic quality control, and many others. These capabilities are in great need in the Canadian manufacturing industry.

该项目旨在通过使用多功能抓手的机器人持有的工具或零件来开发智能解决方案，以实现有效，灵活和适应性的任务性能，从而通向新一代的机器人系统。开发的解决方案将包括正确掌握或重新掌握对象或工具的能力，以确定给定任务的可行性，以给定的掌握，以根据需要计划重新制定轨迹，以适应环境的变化并有效地执行可能需要位置，力量或混合控制能力的任务。为此，将开发和建造两个新的机器人手概念。其中一只手将设计用于操纵常见的工业对象或工具，而另一个将基于拟人化方法。具有扩展功能的多模式触觉传感组件也将开发并集成到机器人手中。这些传感器将能够检测到抓住的物体，与环境和其他刺激的接触引起的振动。将开发信号处理技术，以将传感器输出转换为可用于握把和任务性能场景中的高级信息。例如，机器人将能够根据需要的姿势来确定是否可以使用工具执行给定的任务，并在需要时计划重新制作操作，从而大大提高机器人操纵剂的灵活性，适应性和自治权。同样，将开发一个力/扭矩传感器，以提供确定外部负载并相应指导任务的有效手段。最后，所有结果将集成到功能原型中，这些原型将用于生成有关开发解决方案的令人信服的与行业相关的演示。更灵活和适应性的机器人有可能通过打开新的可能性，例如全自动小型系列，自动敏捷制造，可靠的自动质量控制以及许多其他可能性来重写制造自动化规则。在加拿大制造业中，这些功能非常需要。