Intelligent Control Strategies for Coordination of Multi-Robot Systems

P.I. Garg, Devendra p .机构：杜克大学提案号99-08177题目：多机器人系统协调的智能控制策略摘要本GOALI产学研合作项目是杜克大学和美国Hillsborough Feedback Incorporated的联合研究项目。反馈集团代表了几家高科技公司的集合，这些公司共同致力于工业和教育中电气，电子和微处理器设备的设计和制造的国际市场。该研究合作的主要目标包括分析、设计、开发和实施创新的控制策略，如模型参考自适应和神经网络控制，以实现最优负载共享、内力控制和两个合作机械手的有效协调。本研究的分析工作包括全面的闭链运动学和动力学建模、神经网络的稳定性和收敛性研究以及自适应控制方案的制定。实验工作包括通过高速数字信号处理器在杜克大学机器人与制造自动化实验室的两台IBM 7540机器人上实现控制配置，以及在Feedback公司销售的柔性制造工作单元中合作的机器人。此外，通过技术互访、反馈暑期实习和合作研究实验，学生的产学研互动显著。这项研究工作的主要成果和影响包括人力资源开发；创新的控制概念的设计和实施适用于协作机器人在工业和教育柔性制造系统的功能；并开发了与本课题相关的课件模块。

P.I. Garg, Devendra P.Institution: Duke UniversityProposal No. 99-08177Title: Intelligent Control Strategies for Coordination of Multi-Robot SystemsABSTRACTThis GOALI Industry-University Collaborative Research Project is a joint research program between Duke University and Feedback Incorporated of Hillsborough, USA. The Feedback Group represents a collection of several high-technology companies that together address international markets in the design and manufacture of electrical, electronic, and microprocessor based equipment for industry and education. A major objective of this research partnership includes the analysis, design, development, and implementation of innovative control strategies, such as model reference adaptive and neural network control, for optimal load sharing, internal force control, and efficient coordination of two cooperating manipulators. Analytical effort during this research includes a comprehensive closed-chain kinematic and dynamic modeling, stability and convergence investigation of neural networks, and adaptive control scheme formulation. Experimental work involves the implementation of control configurations via high-speed digital signal processors on two IBM 7540 robots available in the Robotics and Manufacturing Automation Laboratory at Duke University and cooperating robots in the flexible manufacturing work cells marketed by Feedback, Inc. In addition, there is significant students' industry-university interaction via mutual technical visits, summer internships at Feedback, and collaborative research experiments. The major outcome and impact of this research effort include human resource development; the design and implementation of innovative control concepts applicable to cooperating robots functioning in industrial as well as in educational flexible manufacturing systems; and the development of courseware modules related to the project.