Synthesis, modelling and experimental validation of dynamically operated robotic systems

动态操作机器人系统的综合、建模和实验验证

• 批准号: RGPIN-2015-04977
• 负责人: Gosselin, Clément
• 金额: $ 5.61万
• 依托单位: Université Laval
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2016
• 资助国家: 加拿大
• 起止时间: 2016-01-01 至 2017-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=613288
• 关键词: Synthesis; modelling; experimental; validation; dynamically

Despite the tremendous progress of robotic technology over the past few decades, the effectiveness of state-of-the-art robots at performing general tasks in unstructured environments is still far from that of human beings. This is in part due to their limited intelligence and autonomy but also greatly to their limited mechanical capabilities. The latter issue currently appears to be one of the most important limitations to the development of general purpose robots that could be widespread in human-centred environments. The long-term objective of this research is to develop effective and responsive robots having mechanical capabilities that are similar to those of human beings. More specifically, the objectives of this five-year research program are: 1) to develop the concept of clusters of joints with distinct mechanical properties for the design of dynamically effective robot arms, 2) to develop trajectory planning strategies that globally exploit the dynamics of robots in the performance of tasks, and 3) to train highly qualified personnel in areas that are of critical importance to the Canadian high-technology industry. In order to reach these objectives, it is proposed here to develop the concept of clusters of joints having distinct mechanical properties for the design of effective robot arms. Additionally, trajectory planning strategies and control approaches that optimally use the inherent dynamics of robots will be developed in order to maximize effectiveness. The proposed architecture aims at providing a synergetic action of different clusters of joints in order to provide payload capability, end-effector agility and inherent safety and intuitivity for human interaction. Among others, the design of low-impedance joints with either locking or stiffening capabilities will be addressed. The trajectory planning and control algorithms will be based on the observation of the way humans use the different parts of their body to effectively perform dynamically demanding tasks. Prototypes will be built, including a complex robotic mechanism that will integrate the results of the above described work, namely clusters of joints with different mechanical properties and advanced trajectory planning and control strategies. This research has the potential to greatly contribute to the understanding of highly effective robotic manipulation, to the design of human-friendly robots and to the design of dynamically operated robotic systems. The main prototype will represent an instantiation of the general concept that is akin to gantry systems commonly used in industry (e.g. in the automotive industry). Advanced results demonstrated on such an arrangement will be of great interest to industry and has the potential to impact Canadian high-technology industry. Finally, this research will train highly qualified personnel in areas that are in great demand in Canadian high-technology industry.

尽管机器人技术在过去的几十年里取得了巨大的进步，但最先进的机器人在非结构化环境中执行一般任务的效率仍然远远低于人类。这部分是由于他们有限的智力和自主性，但也很大程度上是由于他们有限的机械能力。后一个问题目前似乎是发展通用机器人的最重要限制之一，通用机器人可能会在以人为中心的环境中广泛使用。 这项研究的长期目标是开发出有效的、反应灵敏的机器人，这些机器人具有与人类相似的机械能力。更具体地说，这个五年研究计划的目标是：1）开发具有不同机械特性的关节簇的概念，用于动态有效的机器人手臂的设计，2）开发轨迹规划策略，其在任务的执行中全局地利用机器人的动态，三是在对加拿大高科技产业至关重要的领域培养高素质人才。 为了达到这些目标，这里提出了开发具有不同机械性能的关节群的概念，用于设计有效的机器人手臂。此外，还将开发最佳利用机器人固有动力的轨迹规划战略和控制方法，以最大限度地提高效率。 所提出的架构旨在提供一个协同行动的不同集群的关节，以提供有效载荷的能力，末端执行器的敏捷性和固有的安全性和直观性的人类互动。除其他外，将讨论具有锁定或加强能力的低阻抗接头的设计。轨迹规划和控制算法将基于对人类使用身体不同部位有效执行动态要求任务的方式的观察。 将建立原型，包括一个复杂的机器人机制，将整合上述工作的结果，即具有不同机械性能的关节群和先进的轨迹规划和控制策略。 这项研究有可能大大有助于理解高效的机器人操作，人性化的机器人的设计和动态操作的机器人系统的设计。主要原型将代表一般概念的实例，类似于工业中常用的龙门系统（例如，汽车工业）。在这种安排上展示的先进成果将引起工业界的极大兴趣，并有可能影响加拿大的高技术工业。最后，这项研究将培养高素质的人才，在加拿大高科技产业的需求量很大的领域。