US-Turkey Cooperative Research: An Event-Driven Approach to Autonomous Assembly

9819890Koditsheck描述：该奖项是为了支持密歇根大学安娜堡密歇根大学电气工程和计算机科学系Daniel Koditschek教授和土耳其伊斯坦布尔Bogazici大学电气和电子工程系H.Isil Bozma教授的合作研究。他们计划对具有特定参数和能力的装配机器人的概念设计进行研究，使这些机器人能够在对待组装部件的准确初始定位进行非常宽松的限制的情况下工作。这项拟议的工作将从正式和实验两方面调查装配式机器人的设计。其核心技术思想是为每个部件使用精心设计的“目标函数”来编码所需的装配目标。设计了一个机器人控制器，本质上解决了由这些多个目标呈现的部分竞争的多层游戏，并在这样做的过程中，将部件移动到它们设计的最终位置，沿途不会发生碰撞。科学家们将首先形式化二维外生组件的内在性质，并为外生两自由度组件构造一类可证明正确的反馈控制器。然后，他们将开始研究二维内生装配，并提出一类确保完成给定装配任务的控制器。然后，他们将在装配式EDAR机器人上实施开发的控制算法，并对其进行系统的实验评估。范围：这个项目将处理一个非常重要的问题。多个对象的自主装配是未来敏捷制造规划中的重要课题。这项拟议的研究在直接创造一台专门用于装配任务的机器方面具有创新性。私家侦探们建议将博弈论与控制和动力系统分析相结合。美国和土耳其的私家侦探被认为非常有资格进行这项创新研究。合作将为这一努力带来互补的能力，并将提高研究的效益。Bogazici大学是土耳其的顶尖大学之一，它在机电一体化方面拥有强大的课程。该提案符合支持互惠国际合作的内部目标。该项目由国际项目和设计、制造和工业创新部共同资助。

9819890KoditsheckDescription: This award is to support a collaborative research by Professor Daniel Koditschek, Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, Michigan, and Professor H. Isil Bozma, Department of Electrical and Electronic Engineering, Bogazici University, Istanbul, Turkey. They plan to conduct research for the conceptual design of assembler robots with specific parameters and capabilities, to enable these robots to work with very loose restrictions on the exact initial positioning of the parts to be assembled. The proposed work will investigate the design of the assembler robots, both formally and experimentally. The central technical idea is to use carefully designed "objective functions" for each part to encode the desired assembly goal. A robot controller is designed that essentially solves the partially competitive multi-layer game presented by these multiple objectives and, in so doing, moves parts to their designed final locations with no collisions along the way. The scientists will first formalize the intrinsic properties of the two-dimensional exogenous assembly and construct a class of provably correct feedback controllers for the exogenous two degrees of freedom assemblies. They then will start the study of the two dimensional endogenous assemblies and propose a class of controllers that are ensured of accomplishing a given assembly task. They will then implement the developed control algorithm on the assembler EDAR robot and conduct a systematic experimentation for its assessment. Scope: This project will deal with a problem of great importance. The topic of autonomous assembly of multiple objects is important in the planning for agile manufacturing in the future. The proposed research is innovative in creating directly a machine dedicated to the performance of assembly tasks. The P.I.s propose to apply and combine game theory with control and dynamical systems analysis. The US and Turkish P.I.s are considered exceptionally well qualified for this innovative research. The collaboration will bring complimentary capabilities to this effort and will enhance the benefit of the research. Bogazici University is one of Turkey's top universities and it has a strong program in mechatronics. The proposal meets INT objectives for supporting mutually beneficial international collaboration. This project is co-funded by the International Programs and the Division of Design, Manufacture, & Industrial Innovation.