COLLABORATIVE: Planning Manipulation with Contact Under Uncertainty

本文研究了包含滚动和滑动摩擦接触任务的机器人运动规划（广义操作规划）。目标是推导和使用多刚体力学和数学规划的新结果来开发自动生成鲁棒反馈控制策略的技术。这些策略将保证操作任务的正确执行与接触，尽管几何，运动学和动力学模型的参数的不确定性，和传感误差。当不能保证正确执行任务时，第二个目标是在不确定参数和感知误差上指定一组更严格但最广泛的边界，如果满足这些边界，将保证正确执行任务。预期结果的应用领域包括工业装配、抓取获取和灵巧操作、视觉服务、医疗装配（例如髋关节置换术）、虚拟现实和机械设计。为了测试所提出方法的实用性和基础数学模型的有效性，将实现一个基于cad的操作规划系统。自动生成的计划将在实际设备上执行（例如，一个工业机器人和德克萨斯农工大学提供的平面灵巧操作试验台）。此外，实际问题和相关数据将由通用电气公司、波音公司和阿马里洛国家钚资源中心的同事提供。这项工作包括与约翰霍普金斯大学数学科学系的庞钟石教授合作。

This research studies robot motion planning for tasks involving rolling and sliding contact with friction (generalized manipulatimn planning). The goal is to derive and use new results in multi-rigid-body mechanics and mathematical programming to develop techniques for the automatic generation of robust feedback control strategies. These strategies will guarantee correct execution of manipulation tasks with contact despite uncertainty in the parameters of the geometric, kinematic, and dynamic models, and sensing errors. When correct task execution cannot be guaranteed, the secondary goal is to specify a set of tighter, but widest possible, bounds on the uncertain parameters and sensing errors, which if satisfied, would guarantee correct execution. Application domains for the expected results include industrial assembly, grasp acquisition and dexterous manipulation, visual serving, medical assembly (e.g., hip replacement), virtual reality, and mechanical design. To test the practicality of the proposed approach and the validity of the underlying mathematical models, a CAD-based, manipulation planning system will be implemented. Automatically generated plans will be executed with real devices (i.e., an industrial robot and a planar dexterous manipulation testbed available at Texas A&M). In addition, real problems and associated data will be provided by colleagues from General Electric, Boeing, and the Amarillo National Resource Center for Plutonium. The work involves a collaboration with Prof. Jong-Shi Pang, of the Department of Mathematical Sciences at the Johns Hopkins University.