Advanced control and application of multiple mobile manipulators

移动操作是机器人学研究中一个快速增长的领域。与感知、运动规划、操作、控制、认知和人工智能等传统机器人研究领域专注于特定任务或应用不同，移动操作寻求开发能够在现实世界环境中解决广泛应用的集成机器人系统。移动操作旨在整合理论工作和实验平台，以促进机器人在移动和操作方面的能力。因此，它们可以结合移动平台和机械臂的优点，减少缺点，广泛应用于不同的工业和生产领域，如健康、采矿、建筑、救援任务或老年人和/或残疾人的日常援助。*拟议的研究计划将研究移动机械手的先进控制。首先研究了单个移动机械手的集成自适应鲁棒控制设计。考虑了非完整约束下的路径规划和避障问题，提出了考虑冗余度、非完整、动力相互作用、动态不确定性和运动/力控制等问题的不确定非线性移动机械臂动力学改进自适应鲁棒控制方法。为了实现多移动机械手的良好协调运动，提出了一种分散协调控制方法，该方法综合考虑了系统的闭链动力学和内力。针对移动机械手的遥操作应用，设计了一种新颖的多自由度触觉主控结构，以实现对冗余度从移动机械手的高效映射，并开发了移动机械手的双边/多边遥操作控制，其中需要综合考虑时延和性能要求。

Mobile manipulation is a fast-growing area of robotics research. Unlike those traditional robotics research areas such as perception, motion planning, manipulation, control, cognition, and artificial intelligence, which are focused on a specific task or application, the mobile manipulation seeks to develop integrated robotic systems capable of addressing a wide range of applications in real-world environments. Mobile manipulation aims to integrate the theoretical work and experimental platform to facilitate robotics capabilities in both mobility and manipulation. Thus, they can combine the advantages of mobile platforms and robotic arms and reduce the drawbacks, to be widely applied in different industrial and productive fields, such as health, mining, construction, rescue missions or daily assistance for senior and/or disabled.******The proposed research program will investigate the advanced control of mobile manipulators. The integrated adaptive robust control design of single mobile manipulator will be developed first. The novel path planning and obstacle avoidance method under nonholonomic constraints is considered, and the advanced adaptive robust control for the nonlinear mobile manipulator dynamics with uncertainty is proposed which takes into account all issues of redundancy, nonholonomy, dynamic interaction, dynamic uncertainty, and motion/force control. To achieve good coordinated motion of multiple mobile manipulators, a decentralized cooperative control approach will be developed, which takes care of the system's closed-chain dynamics and internal forces together. For the teleoperation application of mobile manipulators, a novel multiple degree of freedom haptic master structure will be designed to realize the efficient mapping to redundant slave mobile manipulator and the bilateral/multilateral teleoperation control of mobile manipulators will be developed where the time delay and the performance requirements need to be considered together.**