2024寒假线下科研·北京：机械工程专题：工业机器人的自动化技术原理及其应用研究

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2023-12-18

　　营地地点：北京外国语大学国际会议中心

　　开始日期: 2024-01-12

　　课时安排: 2周专业预修与在线科研+10天面授科研+5周在线论文指导

　　适合人群

　　适合年级 (Grade): 高中生/大学生

　　适合专业 (Major): 机器人学、机械工程、自动化、航空航天、农业工程等专业或对以上领域感兴趣的学生。有编程基础的学生优先

　　导师介绍

　　Nader

　　佐治亚理工学院 Georgia Tech (Gatech)终身教授&项目主任

Nader

　　Nader导师于1988年加入佐治亚理工学院，现任George W. Woodruff机械工程学院终身教授及机器人博士项目主任，Nader教授在加州大学伯克利分校取得硕士及博士学位，并曾任加州大学伯克利分校机械工程系讲师。现任 IEEE Transactions on Robotics and Automation、IEEE Transactions on Automatic Control和ASME Journal of Dynamic Systems, Measurement, and Control等知名学术期刊的审稿人。发表100多学术文章以及出版多本书籍，多次参与IEEE和ASME的相关会议并担任主席或项目委员会副编辑(详情见附件)。早期研究工作主要在机器人和自动化领域。他在这一领域的主要贡献在于开发了一类用于非线性机械系统的自适应和学习控制器，其中包括能使机器人像人类一样能够通过实践来学习重复的任务，且不需要精确的模型机器人操纵器。后来工业生产证明，实现这种学习控制器可以在不显著增加成本或复杂性的情况下显著提高工业机器人的性能，并有潜力提高自动化制造系统的准确性、自主性和生产率。除了机器人技术，导师还曾开发一种类似的用于调节复印机感光器的速度学习控制器。 Dr. Nader's early research work was in the field of robotics and automation. His major contribution to this field was the development of a class of adaptive and learning controllers for nonlinear mechanical systems including robotic manipulators. This work, which evolved from his doctoral research, enables a robot to learn a repetitive task through practice, much like a human being, and without requiring a precise model. He later demonstrated that implementing this learning controller can significantly improve the performance of industrial robots without significantly increasing their cost or complexity, and has the potential to improve the accuracy, autonomy, and productivity of automated manufacturing systems. In addition to robotics, he developed a similar learning controller for speed regulation of copier photoreceptors as part of a project sponsored by the Xerox Corporation. Dr. Sadegh began at Tech in 1988 as an Assistant Professor.

　　项目背景

　　机器人学是与机器人设计、制造和应用相关的科学。又称为机器人技术或机器人工程学，主要研究机器人的控制与被处理物体之间的相互关系。自从1961年在美国诞生世界上第一台工业机器人以来，机器人技术飞速发展，应用领域日益扩大，呈现出多样化和智能化的发展趋势。随着工业自动化和计算机技术的发展，机器人开始进入大量生产和实际应用阶段。项目将围绕着机器人学中的核心理论与技术展开。Robotics is a science related to the design, manufacture and application of robots. Also known as robot technology or robot engineering, it mainly studies the relationship between robot control and the object to be processed. Since the birth of the world's first industrial robot in the United States in 1961, the robot technology has developed rapidly, and the application field has expanded day by day, showing a diversified and intelligent development trend. With the development of industrial automation and computer technology, robots begin to enter the stage of mass production and practical application. The project will focus on the core theories and technologies in robotics.

　　项目介绍

　　本项目将介绍机器人在工业领域的应用现状、问题和前景展望。并逐步探究机器人的自主移动原理，包括：机器人结构、机器人运动学、传感与控制等机器人学概论，还将介绍在未知环境中操作机器人的核心技术SLAM以及机器人的运动规划与增强学习控制等内容，项目结束时提交成果。This project will introduce the application status, problems and prospects of robots in the industrial field. And gradually explore the principle of robot's autonomous movement, including robot structure, robot kinematics, sensing and control and other robotics introduction. It will also introduce the core technology of operating robots in unknown environments, such as SLAM, as well as robot's motion planning and enhanced learning control, and submit the results at the end of the project.

　　项目大纲

　　机器人学概述：机器人在工业应用的现状、问题和前景展望 Introduction to Robotics

　　机器人动态和静态基础分析 Kinematics and Static Analysis of Robotic Manipulators

　　可移动机器人的动态控制原理 Kinematics Analysis and Control of Mobile Robots

　　SLAM技术简介：了解SLAM以及如何操纵在未知环境中的机器人 Simultaneous Localization and Mapping (SLAM)

　　机器人运动规划和强化学习控制理论基础简介 Robot Motion Planning and Reinforcement Learning Control

　　项目回顾与成果展示 Program review and presentation

　　论文辅导 Project deliverable tutoring

　　项目收获

　　2周专业预修与在线科研+10天面授科研+5周在线论文指导

　　项目报告

　　优秀学员获主导师Reference Letter