Advanced control and application of multiple mobile manipulators

多移动机械手的先进控制与应用

• 批准号: RGPIN-2017-05149
• 负责人: Gu, Jason
• 金额: $ 3.42万
• 依托单位: Dalhousie University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2020
• 资助国家: 加拿大
• 起止时间: 2020-01-01 至 2021-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=711414
• 关键词: Advanced; control; application; multiple; mobile

Mobile manipulation is a fast-growing area of robotics research. Unlike those traditional robotics research areas such as perception, motion planning, manipulation, control, cognition, and artificial intelligence, which are focused on a specific task or application, the mobile manipulation seeks to develop integrated robotic systems capable of addressing a wide range of applications in real-world environments. Mobile manipulation aims to integrate the theoretical work and experimental platform to facilitate robotics capabilities in both mobility and manipulation. Thus, they can combine the advantages of mobile platforms and robotic arms and reduce the drawbacks, to be widely applied in different industrial and productive fields, such as health, mining, construction, rescue missions or daily assistance for senior and/or disabled. The proposed research program will investigate the advanced control of mobile manipulators. The integrated adaptive robust control design of single mobile manipulator will be developed first. The novel path planning and obstacle avoidance method under nonholonomic constraints is considered, and the advanced adaptive robust control for the nonlinear mobile manipulator dynamics with uncertainty is proposed which takes into account all issues of redundancy, nonholonomy, dynamic interaction, dynamic uncertainty, and motion/force control. To achieve good coordinated motion of multiple mobile manipulators, a decentralized cooperative control approach will be developed, which takes care of the system's closed-chain dynamics and internal forces together. For the teleoperation application of mobile manipulators, a novel multiple degree of freedom haptic master structure will be designed to realize the efficient mapping to redundant slave mobile manipulator and the bilateral/multilateral teleoperation control of mobile manipulators will be developed where the time delay and the performance requirements need to be considered together.

移动的操作是机器人研究的一个快速发展的领域。与传统的机器人研究领域如感知、运动规划、操纵、控制、认知和人工智能不同，移动的操纵旨在开发能够解决现实环境中广泛应用的集成机器人系统。移动的操作旨在整合理论工作和实验平台，以促进机器人在移动和操作能力。因此，它们可以联合收割机结合移动的平台和机械臂的优点并减少缺点，以广泛应用于不同的工业和生产领域，例如健康、采矿、建筑、救援任务或老年人和/或残疾人的日常援助。 本研究计画将探讨移动的机械手臂之先进控制。本文首先研究单移动的机械臂的集成自适应鲁棒控制设计。研究了非完整约束下的路径规划和避障方法，提出了非线性不确定移动的机械臂的先进自适应鲁棒控制方法，综合考虑了冗余、非完整、动力学相互作用、动力学不确定性以及运动/力控制等问题.为了实现良好的协调运动的多个移动的机械手，分散协调控制方法将开发，它需要照顾系统的闭链动力学和内力在一起。针对移动的机械臂的遥操作应用，设计了一种新型的多自由度触觉主结构，实现了向冗余从移动的机械臂的有效映射，并在综合考虑时延和性能要求的情况下，实现了移动的机械臂的双边/多边遥操作控制.