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

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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.