基于超声波电机的交互式特种机器人智能控制的研究

项目名称： 基于超声波电机的交互式特种机器人智能控制的研究

项目编号： No.61273024

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 顾菊平

作者单位： 南通大学

项目金额： 62万元

中文摘要： 本项目拟基于接触交互信息对特种移动机器人准确定位和快速导航的智能控制相关理论进行研究。利用超声波电机无磁干扰、快速精确定位、自锁等特点，设计并制作基于微超声波电机驱动的微机器人多触须与多机械臂驱动机构，以减少系统盲区；研究基于多自由度超声波电机驱动的机械臂驱动系统，提高感测的实时性；采用双权值神经网络实现触须驱动用超声波电机的微位移可调，其参数辨识与模型自适应控制；基于"盲人摸巷"及昆虫"用须探物"的行为机理，探索基于接触交互信息的特种机器人的导航策略，增强对未知环境的自适应能力；完善基于几何代数的小样本仿生模式识别理论，提高恶劣环境下被测物的识别率以及系统的鲁棒性与容错性，快速提升我国特种移动机器人产业奠定理论基础。本项目研制具有自主知识产权的特种机器人触觉交互系统实验平台一套；基于几何代数的小样本仿生模式识别软件1套；发表论文9-12 篇，申请专利3-5 项。

中文关键词： 超声波电机；特种机器人；智能测控；图像处理；

英文摘要： Critical theory of intelligent control for special smart mobile robot based on the interactive information will be proposed to realize accurate position and rapid navigation in this project. In order to reduce blind zone, one system will be designed with more tentacles and mechanical arms driven by micro ultrasonic motor, for ultrasonic motor has the characteristic of no magnetic interference, fast and accurate position and large self-locking torque. In order to improve the real-time sensing, a special robot with two arms driven by multiple degree of freedom ultrasonic motor will be developed. Micro-displacement adjustable for micro ultrasonic motor made for tentacle will be realized to adaptive control for its parameter identification with model. A navigation strategy of special smart mobile robot based on the principle which is similar to the "blind man touch and find the lane" and "insets using tactile to explore objects" will be deduced to enhance the adaptive capability within unknown environment. In order to increase the recognition rate of the measured object, system robustness and fault tolerance under harsh environment, a small sample biomimetic pattern recognition algorithm will be calculated by geometric algebra. All these will improve and promote the theory of the special smart mobile robot with more

英文关键词： ultrasonic motor；specialized robot；intelligent measure and control；image processing；