Synthesis, Control, and Experimental Validation of Robotic Systems with Multiple Working Modes

如今，机器人有望在所谓的非结构化环境中执行越来越多的任务，包括典型的人类和空间环境。随着机器人与人类互动、协助、服务和探索，新的研究挑战出现了。具有多种工作模式的多用途机器人在应对这些新挑战方面发挥着重要作用。提出的研究计划的长期目标是开发多功能机器人系统，用于在非结构化的人类和空间环境中高效和安全的机器人操作，具有创新的机器人操纵器设计和控制技术，可以模仿和扩展某些具有多种工作模式的人类手臂能力。根据这一长期目标，并以我们最近的研究成果为基础，提出的研究计划将推广最近提出的多工作模式机器人控制方法，并扩展其在涉及非结构化环境的机器人任务中的应用，并要求创新的设计和控制技术。更具体地说，短期目标计划如下：1)通过推广我们最近提出的多工作模式机器人控制方法，开发一个创新的机器人控制框架，以解决与非结构化环境相关的建模不准确性引起的问题；2)进一步开发弹簧辅助机械臂及控制系统，实现多工作模式下的灵巧安全操作；3)综合一种控制方案，使具有多种工作模式的空间机械臂既能抑制翻滚卫星或空间碎片等未知目标的翻滚运动，又能识别目标的未知惯性参数，且不超过抓取点处的相互作用力限制；4)研究并实验验证了基于关节力矩估计的机器人操纵臂控制，该控制采用连杆和执行器侧位传感器；5)针对多工作模式下的机器人机械手开发软件系统架构和程序，并对所提出的控制方法进行实验研究和验证。***拟议的研究计划将产生创新而实用的方法来设计和控制在非结构化的人类或空间环境中工作的机器人系统，产生高质量的研究贡献，并为实际机器人应用问题提供有效的解决方案。能够在非结构化环境中有效运行的机器人系统将在服务、卫生、救援、先进制造和空间探索等领域得到广泛应用，具有巨大的商业化潜力。此外，由于其多学科性质，拟议的研究计划将继续为培养高素质人才做出重大贡献

Robots nowadays are expected to perform more and more tasks in so called unstructured environments, including typically human and space environments. New research challenges emerge as robots interact, assist, serve, and explore with humans. Versatile robot manipulators with multiple working modes play substantial roles in tackling these new challenges. The long term objective of the proposed research program is to develop versatile robotic systems for efficient and safe robotic manipulations in unstructured human and space environments, featuring innovative design and control techniques of robot manipulators that can mimic and extend certain human arm capabilities with multiple working modes. In line with this long term objective, and building upon our recent research achievements, the proposed research program will generalize a recently proposed multiple working mode robot control approach and extend its applications on robotic tasks that involve unstructured environments and call for innovative design and control techniques. More specifically, the short-term objectives are planned as follows: 1) develop an innovative robot control framework by generalizing our recently proposed multiple working mode robot control approach for solving problems caused by modelling inaccuracies associated with unstructured environments; 2) further develop a spring-assisted robotic arm and control system for dexterous and safe manipulations with multiple working modes; 3) synthesize a control scheme that allows a space manipulator with multiple working modes to dampen the tumbling motion of an unknown target such as a tumbling satellite or space debris while identifying the target's unknown inertial parameters without exceeding limits on the interaction forces at the grasping point; 4) investigate and experimentally validate control of robot manipulators based on joint torque estimation using link and actuator side position sensors; and 5) develop software system architecture and programs for robot manipulators operating with multiple working modes and conduct experimental investigation and validation of proposed control methods. ***The proposed research program will generate innovative yet practical ways of design and control of robot systems for working in unstructured human or space environments, generating high quality research contributions and providing effective solutions to practical robot application problems. Robotic systems capable of operating effectively in unstructured environments will find tremendous applications in sectors such as service, health, rescue, advanced manufacturing and space exploration, leading to huge commercialization potentials. Furthermore, with its multidisciplinary nature, the proposed research program will continue to contribute significantly to training of highly qualified personnel.**