Coordinated set stabilization : application to robotic manipulators

协调稳定：在机器人操纵器中的应用

• 批准号: RGPIN-2014-06491
• 负责人: Nielsen, Christopher
• 金额: $ 1.82万
• 依托单位: University of Waterloo
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 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=567842
• 关键词: Coordinated; set; stabilization; application; robotic

Consider the problem of designing algorithms that make a collection of robotic manipulators work together to paint the fuselage of an aircraft. The paintbrush attached to the end-effector of each robot is charged with staying on the surface that describes the shape of the fuselage. Each robot's end-effector is restricted, through feedback control, to move along the surface describing the fuselage. On the surface, the team of robots must communicate and co-operate to coordinate their motions so that they do not unnecessarily paint over the same region too often and efficiently complete the task. Partially motivated by the above example, the proposed research project studies the coordination of nonlinear control systems on pre-specified sets in their output spaces. Given a heterogeneous collection of nonlinear control systems, the objective is to design a feedback control laws, one for each system, that drive the closed-loop output of each system to its pre-defined target set. The target sets must be invariant, in other words, if each system is initialized on its target set, it remains on the target set. Once on the target set, the systems should cooperatively complete application specific tasks in an optimal manner. This proposal focuses on (a) set stabilization of nonlinear systems while ensuring desired dynamics on the target set (b) coordinated set stabilization for nonlinear control systems with emphasis on Euler-Lagrange systems (c) experimental verification of coordinated set stabilization algorithms. The expected outcomes of this proposal are distributed nonlinear control algorithms whose effectiveness are mathematically proven and demonstrated experimentally on laboratory equipment. This research is partly motivated by the emergence of self-organizing factories in industrialized nations as a way to increase productivity and compete with low-cost manufacturing in developing nations. North America and Europe are moving to significantly increase industrial value creation. The next stage of industrial manufacturing, a move towards `smart factories', has been described as a fourth stage of the industrial revolution. This notion of `industry 4.0', or `the internet of things', is modernizing manufacturing processes and increasing productivity in industrial manufacturing in North America. The 'internet of things' has been identified as a disruptive technology that will transform life, business, and the global economy. For example, Boeing is using a team of robots, working together, to paint the wings of the Boeing 777. These robots have boosted output and dramatically reduced the time required to paint the wings from 4.5 hours to 24 minutes. This research aims to generate systematic methods to design control algorithms for coordinated set stabilization of systems with nonlinear dynamics. We seek to mathematically prove the correctness of the algorithms while also experimentally demonstrating their effectiveness on mobile robotic manipulators. Mobile robotic manipulators that can work co-operatively are well suited to re-configurable, flexible manufacturing systems. Solving the fundamental problems considered in this proposal related to the design of nonlinear control algorithms promises to help enable the 'internet of things' in manufacturing.

考虑设计算法的问题，使一组机器人操纵器一起工作，为飞机机身喷漆。连接到每个机器人末端执行器的画笔负责停留在描述机身形状的表面上。每个机器人的末端执行器被限制，通过反馈控制，沿沿着表面描述机身移动。在表面上，机器人团队必须进行沟通和合作，以协调它们的运动，这样它们就不会不必要地过于频繁地在同一区域上绘制，并有效地完成任务。部分地受上述例子的启发，所提出的研究项目研究了非线性控制系统在其输出空间中的预定集合上的协调。给定非线性控制系统的异构集合，目标是设计一个反馈控制律，每个系统一个，驱动每个系统的闭环输出到其预定义的目标集。目标集必须是不变的，换句话说，如果每个系统都在其目标集上初始化，它将保持在目标集上。一旦达到目标集，系统应该以最佳方式合作完成应用程序特定的任务。该建议集中于（a）非线性系统的集合镇定，同时确保目标集合上的期望动态（B）非线性控制系统的协调集合镇定，重点是欧拉-拉格朗日系统（c）协调集合镇定算法的实验验证。该建议的预期成果是分布式非线性控制算法，其有效性在数学上得到证明，并在实验室设备上进行了实验验证。这项研究的部分动机是，工业化国家出现了自组织工厂，作为提高生产率和与发展中国家低成本制造业竞争的一种方式。北美和欧洲正在采取行动，大幅增加工业价值创造。工业制造的下一阶段，即走向“智能工厂”的阶段，被称为工业革命的第四阶段。“工业4.0”或“物联网”的概念正在使北美的制造流程现代化，并提高工业制造业的生产力。“物联网”被认为是一种颠覆性技术，将改变生活，商业和全球经济。例如，波音公司正在使用一组机器人，共同工作，为波音777的机翼喷漆。这些机器人提高了产量，并将机翼喷漆所需的时间从4.5小时大幅缩短至24分钟。本研究的目的是产生系统的方法来设计控制算法的协调集镇定系统的非线性动态。我们试图在数学上证明算法的正确性，同时也通过实验证明其有效性的移动的机器人机械手。移动的机器人机械手，可以合作工作，非常适合于可重新配置，灵活的制造系统。解决本提案中考虑的与非线性控制算法设计相关的基本问题，有望帮助实现制造业中的“物联网”。