US-Egypt Cooperative Research: Modeling and Control of Robotic Manipulators with Flexible Links and Joints

0314378 Shabana描述：该奖项旨在支持伊利诺伊大学芝加哥分校（UIC）机械工程系Ahmed Shabana博士和埃及开罗开罗大学机械设计与生产系Said Megahed博士之间的合作研究项目。 研究的目的是利用现代控制技术来改进当前机器人操作器的设计方法。采用智能控制策略的轻型机器人消除了机器人振动并实现了高速操作。该目标可以通过开发不具有和/或具有柔性连杆和关节的机器人操纵器的可靠动态模型来实现。不同的控制策略将进行评估，以使机器人TCP遵循所需的轨迹。这些控制策略的性能进行比较，以确定最佳的控制系统。控制工作是准确地定位机器人端点TCP和阻尼机器人振荡。 可以使用直流电机和/或压电致动器并测试其精确控制。 实验验证的性能和鲁棒性的机器人与开发的控制系统将进行。 采用有限元绝对节点坐标法对柔性机器人进行动力学仿真。 在该公式中，使用全局位置和斜率坐标作为节点坐标。 绝对节点坐标公式导致一个恒定的质量矩阵，因此，离心力和科里奥利惯性力都等于零。 适用范围：在这个项目中的合作将涉及埃及的小组侧重于实验研究，而在芝加哥的伊利诺伊大学的小组将侧重于有关的小和大变形问题的分析和计算研究。 UIC的一名研究生将参与这项国际合作。 几名埃及学生将参加开罗大学的实验工作。 该项目得到了美国-埃及联合基金方案的支持，该方案向两国的科学家和工程师提供赠款，以开展这些合作活动。

0314378ShabanaDescription: This award is to support a cooperative research project between Dr. Ahmed Shabana, Department of Mechanical Engineering, University of Illinois, Chicago (UIC), Illinois and Dr. Said Megahed, Department of Mechanical Design and Production, Cairo University, Cairo, Egypt. The research goal is to improve the current design methodologies of robotic manipulators using modern control techniques. A lightweight robot with smart control strategies eliminates the robot vibrations and achieves high-speed operations. This goal may be achieved with the development of a reliable dynamic model of a robotic manipulator without and/or with flexible links and joints. Different control strategies will be evaluated in order to make the robot TCP follow a desired trajectory. The performance of these control strategies will be compared in order to determine the optimum control system. The control effort is to accurately position the robot endpoint TCP and to dampen the robot oscillations. DC-motors and/or piezoelectric actuators may be used and tested for accurate control. Experimental verification of the performance and robustness of the robot with the developed control system will be carried out. The dynamic simulation for the very flexible robot will be obtained using the finite element absolute nodal coordinate formulation. In this formulation global position and slope coordinates are used as the nodal coordinates. The absolute nodal coordinate formulation leads to a constant mass matrix, and as a consequence, the centrifugal and Coriolis inertia forces are identically equal to zero. Scope: The collaboration in this project will involve the Egyptian group focusing on the experimental studies, while the group at the University of Illinois at Chicago will be focused on the analytical and computational studies related to the small and large deformation problems. A graduate student at UIC will participate in this international collaboration. Several Egyptian students will participate in the experimental work at Cairo University. This project is being supported under the US-Egypt Joint Fund Program, which provides grants to scientists and engineers in both countries to carry out these cooperative activities.