| 引用本文: | 吴文强,管贻生,朱海飞,苏满佳,李怀珠,周雪峰.面向任务的可重构模块化机器人构型设计[J].哈尔滨工业大学学报,2014,46(3):93.DOI:10.11918/j.issn.0367-6234.2014.03.016 |
| WU Wenqiang,GUAN Yisheng,ZHU Haifei,SU Manjia,LI Huaizhu,ZHOU Xuefeng.Task-oriented configuration design of reconfigurable modular robots[J].Journal of Harbin Institute of Technology,2014,46(3):93.DOI:10.11918/j.issn.0367-6234.2014.03.016 |
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| 面向任务的可重构模块化机器人构型设计 |
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吴文强1, 管贻生2, 朱海飞1, 苏满佳1, 李怀珠1, 周雪峰3
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(1.华南理工大学 机械与汽车工程学院, 510641 广州; 2.广东工业大学 机电工程学院, 510006广 州; 3.广东省自动化研究所, 510070 广州)
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| 摘要: |
| 为解决可重构模块化机器人在应用时如何找到合适的构型来满足特定任务的问题,提出一种面向任务的可重构模块化机器人构型多目标优化方法．讨论该模块化机器人系统的基本结构,包括主要的模块和控制系统的组成结构;在任务描述的基础上,给出模块化机器人构型设计的优化模型和流程;针对特定的攀爬任务和操作任务,对模块化机器人的构型进行优化设计．仿真验证了该方法的可行性和有效性．该方法具有面向任务和多目标优化等特点,涵盖了自由度、可达性、耗能等多方面的性能优化,适用于模块化机器人的构型设计． |
| 关键词: 面向任务 模块化 可重构机器人 构型设计 遗传算法 |
| DOI：10.11918/j.issn.0367-6234.2014.03.016 |
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| 基金项目:国家自然科学基金资助项目(50975089); 广东省自然科学基金资助资助(S2013020012797). |
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| Task-oriented configuration design of reconfigurable modular robots |
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WU Wenqiang1, GUAN Yisheng2, ZHU Haifei1, SU Manjia1, LI Huaizhu1, ZHOU Xuefeng3
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(1. School of Mechanical and Automotive Engineering, South China University of Technology, 510641 Guangzhou, China; 2. School of Mechanical and Electrical Engineering, Guangdong University of Technology, 510006 Guangzhou, China; 3. Guangdong Institute of Automation, 510070 Guangzhou, China)
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| Abstract: |
| For solving the problem of finding suitable robot configurations to meet the specific tasks in the application of reconfigurable modular robot, a task-oriented multi-objective configuration optimization method is discussed. At beginning, the basic structure of the modular robot system is introduced, including the main modules and components of the control system. Then, based on the description of the task, an optimization model of modular robot configuration design is represented. Finally, for the specific tasks of climbing and manipulating, the configuration optimal design of modular robot is processed. The feasibility and effectiveness of the method have been well verified by the optimization simulation. The method is task-oriented and multi-objective, and it includes the performance optimization of degrees-of-freedom, reach-ability, energy consumption, and so on. |
| Key words: task-oriented modular reconfigurable robot configuration design genetic algorithm |
