Novel strategies for robotic control through the study of dynamic interactions between robots and their environments

Project: Research

Description

The advances of mechatronics, control and communication technologies have significantly increased the applications of different robotic systems in extreme or harsh environments. These environments can often arise from many industry sectors ranging from manufacturing to operations, such as nuclear, oil and gas, and aerospace, etc. One particular promising area is the on-orbital satellite refuelling application in harsh space environment. It is a challenging task how to deal with the dynamic interactions between robots and space environment. During these interactions the unpredicted forces could be generated due to the uncertainty of space environment and also the impact effects following the capturing action exerting on the satellite to be refuelled. Therefore there needs a pressing innovative solution to the control of dynamic interactions between the robotic system and its environment. There are also many other interesting applications in the areas of smart manufacturing and smart systems where harsh environments have to be dealt properly with the robotic systems.
The specific aim of this PhD project is to develop novel strategies for adaptive, intelligent and robust control of autonomous robots through the study of dynamic interactions between robots and their harsh environments. Through these advanced control strategies, it will solve the challenging tasks on how to efficiently deal with the dynamic interactions between autonomous robots and their environments. The novelty of the advanced control is how to make the robots in harsh environments behave adaptively and robustly by using the information from on-board robotic vision system and multiple sensory devices equipped for intelligent task planning and object manipulation. Another novelty of the advanced control strategies lies in that they will be also developed in this project together with other sensor-based control techniques, such as hybrid force-position control. The innovative technology proposed in this project incorporates and integrates both tactile sensing and vision based sensing in object recognition and handlibility analysis, pose estimation, etc. For the on-board robotic vision system, the novelty is to investigate the use of multiple vision sensors, e.g. 2 camera systems coupled with a laser scanning system. The key success factors include the identification of on-board vision sensing systems, development of software systems for 3D object recognition and pose estimation as well as the integration of the sensing system with the control and communication system.

Notes

EPSRC DTP PhD project, £66,500
StatusActive
Effective start/end date1/10/1631/03/20