Synthesis, modelling and experimental validation of dynamically operated robotic systems

点击翻译按钮获取中文摘要

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.**