Presidential Young Investigator Award: The Dynamics and Control of High-Speed Direct-Drive Manipulators

该提案是为了支持基金会总统青年研究员（PYI）奖励计划下的研究。Youcef-Toumi博士的研究方向是用于制造应用的高速直接驱动机械手的动力学和控制。直驱式机械臂是一种高扭矩电机直接耦合到机械臂关节轴上的机械臂。消除了电机及其相应负载之间的齿轮传动，使手臂没有反弹，低摩擦和高机械刚度。所有这些特点都是理想的快速，准确和通用的扭矩控制的机械手。他早期的研究成功地开发了一种使用高扭矩无刷电机的直接驱动手臂。实现的最大速度和加速度分别为10米/秒和5G，比现有机器人快一个数量级。研究课题包括高性能伺服控制技术的发展，臂动力学分析，以及使用非线性反馈/前馈补偿的高速高精度轨迹控制。需要解决的其他研究问题包括建模和控制系统设计，硬件实现以及扭矩/力控制应用的软件开发。PYI计划的目标是为全国最杰出和最有前途的年轻科学和工程教师提供支持。该奖项旨在提高美国学术机构的能力，以满足学术和工业研究和教学对高素质科学家和工程师的需求。根据这些目标，建议为Youcef- Toumi博士颁发总统青年研究员奖。这是一个为期五年的奖项。每年的经费将维持在25 000美元的基本水平，并提供至多37 500美元的补充，以配合所获得的工业支助。

This proposal is for support of research under the Foundation's Presidential Young Investigator (PYI) Awards program. Dr. Youcef-Toumi's research is directed toward the dynamics and control of high-speed direct-drive manipulators for manufacturing applications. The direct-drive manipulator is a robotic arm where high torque motors are direct coupled to the joint axes of the arm. The elimination of gearing between the motors and their corresponding loads results in an arm that has no backlash, low friction and high mechanical stiffness. All of these characteristics are desirable for fast, accurate and versatile torque controlled manipulators. His early research succeeded in developing a direct-drive arm using high torque brushless motors. The maximum speed and acceleration achieved were 10 m/sec and 5G respectively, which are an order of magnitude faster than existing robots. Research issues to be addressed under this grant include the development of control techniques for high performance servoing, analysis of the arm dynamics, and high speed high-accuracy trajectory control using nonlinear feedback/feedforward compensations. Additional research issues to be addressed include modeling and control systems design, hardware implementation, and software development for torque/force control applications. The objectives of the PYI program are to provide support to the Nation's most outstanding and promising young science and engineering faculty. The awards are intended to improve the capability of U.S. academic institutions to respond to the demand for highly qualified scientists and engineers for academic and industrial research and teaching. In accordance with those objectives, a Presidential Young Investigator Award for Dr. Youcef- Toumi is recommended. This is a five-year continuing award. Annual funding will be at the base level of $25,000 with a supplement of up to $37,500 to match industrial support obtained.