Cooperative Assistive Robotic Systems with Haptic Feedback: Sensing and Control

具有触觉反馈的协作辅助机器人系统：传感和控制

基本信息

批准号：
RGPIN-2016-04952
负责人：
Pan, YaJun
金额：
$ 2.4万
依托单位：
Dalhousie University
依托单位国家：
加拿大
项目类别：
Discovery Grants Program - Individual
财政年份：
2017
资助国家：
加拿大
起止时间：
2017-01-01 至 2018-12-31
项目状态：
已结题

来源：
https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=638859
关键词：
Cooperative Assistive Robotic Systems Haptic

项目摘要

With the need to accomplish more complicated work by robots, increasing attention has been paid to cooperative assistive robotics systems and technologies over the past decades. The proposed work on sensing, control and optimization of cooperative assistive robotic systems addresses one of the recognized major challenges and opportunities for control researchers. The results of the research will lay the ground work for the development of cooperative robotic systems with potential applications in industrial manufacturing, military applications, environmental monitoring, transportation, space exploration, medical applications and health care services. The results of the proposed research will help the industry to offer operating convenience and increase economic efficiency, as well as offer benefit to people required medical interventions and physical assistance. Cooperative robotic systems have advantages over a single robot, such as increased dexterity, improved handling capability, increased loading capacity and enhanced robustness due to redundancy. Much existing work lacks a good framework for coordination strategies due to the complexity of the whole system. The integration of two key components, sensing and control, is not optimized and needs co-design for specific applications. The issues related to unknown environment model, dynamics, coordination mechanism to dynamic environment, imperfect sensors, communication constraints, and performance evaluation index have not been well addressed.

由于需要通过机器人完成更复杂的工作，因此在过去几十年中，人们对合作辅助机器人系统和技术的关注越来越多。关于合作辅助机器人系统的感应，控制和优化的拟议工作，涉及公认的控制研究人员的主要挑战和机会。该研究的结果将为开发合作机器人系统的开发奠定基础，并在工业制造，军事应用，环境监测，运输，太空勘探，医疗应用和医疗保健服务中使用潜在的应用。拟议研究的结果将有助于该行业提供便利和提高经济效率，并为需要医疗干预和身体援助的人们提供好处。合作机器人系统比单个机器人具有优势，例如提高灵巧性，提高处理能力，增加的负载能力以及由于冗余而增强的鲁棒性。由于整个系统的复杂性，许多现有的工作缺乏一个很好的协调策略框架。两个关键组件的集成感测和控制未经优化，并且需要为特定应用程序共同设计。与未知环境模型，动态，协调机制相关的问题，动态环境，不完美的传感器，通信约束和绩效评估指数尚未得到很好的解决。