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人工智能论文:具有高移动性的约束协同移动代理的优化驱动运动控制(Optimization driven kinematic control of constra

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nic28 发表于 2019-1-11 11:38:04 | 显示全部楼层 |阅读模式
nic28 2019-1-11 11:38:04 67 0 显示全部楼层
人工智能论文:具有高移动性的约束协同移动代理的优化驱动运动控制(Optimization driven kinematic control of constrained collaborative  mobile agents with high mobility)工业机器人,特别是串联工业机械手,已经在大规模机器人系统中实现了许多最近的研究,例如使用的不结构机器人,建筑中的机器人技术。然而,工业操纵器具有非常低的有效载荷重量比,是太通用的系统,具有不灵活的硬件和软件以用于任务适应性。高机动性大规模机器人系统通常涉及甚至更重的移动基座来移动这些工业操纵器,因此甚至进一步降低了这种系统的有效载荷牵引比。此外,这种系统架构是不灵活的,并且当需要更高的移动性时,这种系统架构最终达到其极限。本文提出了受约束协同移动代理的概念,其中被动移动代理受到被动运动结构的约束,其结构可根据不同的功能,任务和移动性要求进行昂贵的配置。移动代理的类型和数量,动作方案的选择是该系统的另一个重要特征,可以改变以改善系统性能。提出了一种用于这种系统的建模和运动控制的新颖优化框架,该框架对于上述系统元件和特征是灵活的。最后,给出了两个原型,用于演示具有不同拓扑结构的系统的优化驱动运动控制。
Industrial robots, in particular serial industrial manipulators, have enableda lot of recent research in large scale robotic systems such as used inconstruction robotics, robotics in architecture.However, industrialmanipulators have very low payload to weight ratio, are too generic systemswith inflexible hardware and software for task adaptability.High mobilitylarge scale robotic systems often involve even heavier mobile bases to movearound these industrial manipulators, thus even further lowering the payload toweight ratio of such systems.Moreover, such system architecture is inflexibleand eventually reaches its limits when higher mobility is demanded such ashigher overall reach with same payload.This paper presents a concept ofconstrained collaborative mobile agents where the actuated mobile agents areconstrained by a passive kinematic structure whose topology can beinexpensively configured according to different functions, task and mobilityrequirements.The type and number of mobile agents, the choice of actuationscheme are other important characteristic of this system which can be alteredto improve system performance.A novel optimization framework for modeling andkinematic control of such systems is presented which is flexible to theabove-mentioned system elements and characteristics.Finally, two prototypesare presented which are used to demonstrate the optimization driven kinematiccontrol of the system with different topologies.人工智能论文:具有高移动性的约束协同移动代理的优化驱动运动控制(Optimization driven kinematic control of constrained collaborative  mobile agents with high mobility) dAu9MPQ6r0NZnXrZ.jpg
URL地址:https://arxiv.org/abs/1901.02935     ----pdf下载地址:https://arxiv.org/pdf/1901.02935    ----人工智能论文:具有高移动性的约束协同移动代理的优化驱动运动控制(Optimization driven kinematic control of constrained collaborative  mobile agents with high mobility)
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