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

多种工作模式的机器人系统的综合、控制和实验验证

• 批准号: RGPIN-2016-04272
• 负责人: Liu, Guang
• 金额: $ 3.35万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=689371
• 关键词: Synthesis; Control; Experimental; Validation; Robotic

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.**

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，包括通常的人类和空间环境。随着机器人互动，协助，服务和探索人类，新的研究挑战。具有多种工作模式的多功能机器人操纵器在应对这些新挑战方面发挥了重要作用。拟议的研究计划的长期目标是开发多功能的机器人系统，以在非结构化的人类和太空环境中有效且安全的机器人操作，其中包含机器人操纵器的创新设计和控制技术，可以模仿和扩展具有多种工作模式的某些人类手臂功能。根据这个长期目标，并基于我们最近的研究成就，拟议的研究计划将推广最近提出的多个工作模式机器人控制方法，并将其应用于机器人任务上，该任务涉及非结构化环境，并要求创新设计和控制技术。 更具体地说，短期目标的计划如下：1）通过推广我们最近提出的多个工作模式机器人控制方法来开发创新的机器人控制框架，以解决与非结构化环境相关的不准确性引起的问题； 2）进一步开发了一种弹簧辅助机器人和控制系统，用于具有多种工作模式的灵巧和安全的操作； 3）合成一个控制方案，该方案允许具有多种工作模式的空间操纵器抑制未知目标的翻滚运动，例如翻滚卫星或空间碎屑，同时识别目标的未知惯性参数，而不会超过抓地点的相互作用力的限制； 4）根据使用链接和执行器侧位置传感器的关节扭矩估计，研究并实验验证了对机器人操纵器的控制； 5）为具有多种工作模式运行的机器人操纵器开发软件系统体系结构和程序，并对拟议的控制方法进行实验研究和验证。 ***拟议的研究计划将生成对机器人系统设计和控制的创新但实用的方法，用于在非结构化的人类或太空环境中工作，产生高质量的研究贡献，并为实用的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，健康，救援，高级制造和太空勘探等领域中找到巨大的应用，从而带来巨大的商业化潜力。此外，凭借其多学科的性质，拟议的研究计划将继续为培训高素质的人员做出重大贡献。**