Design, Simulation and Operation of Task-oriented Multi-Robot Applications with MATLAB/Stateflow
Design, Simulation and Operation of Task-oriented Multi-Robot Applications with MATLAB/Stateflow
复制标题
使用 MATLAB/Stateflow 设计、仿真和操作面向任务的多机器人应用
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
T. Pawletta
中科院分区：
文献类型：
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作者：
Birger Freymann;S. Pawletta;A. Schmidt;T. Pawletta
机器人编程软件大多是专有的，不能用于其他制造商的机器人。然而，希望允许由不同制造商开发的机器人之间的交互，以便建立多机器人系统（MRS）。MRS指的是由相互作用的工业机器人组成的团队，这些机器人共享技能以提高性能。单机器人系统（SRS）的经典控制开发方法的映射到MRS是困难的。基于MRS内的相互作用的分类，一个面向任务的控制（TOC）的方法建议和检查。此外，基于仿真控制（SBC）的事件驱动的多机器人控制的快速控制原型（RCP）的持续发展的方法。SBC支持TOC和通过任务的交互映射。基于SBC和MATLAB/Stateflow的原型，面向任务的交互机器人模型库的开发和测试。介绍协作机器人单机器人系统多机器人系统工业机器人语言机器人编程语言机器人操作系统Freymann et al.面向任务的多机器人应用程序与MATLAB/Stateflow 84 SNE 26（2）- 6/2016 TN机器人控制与可视化面向任务的控制基于仿真的控制快速控制原型1基础多机器人系统单-机器人系统1.1机器人控制与可视化MATLAB/Simulink科学技术计算环境机器人控制与可视化控制PC可视化PC图1：基于RCV的多机器人应用的原理结构。1.2面向任务的控制设计
Robot programming software is mostly proprietary and cannot be used for other manufacturers’ robots. Nevertheless, there is a desire to allow interactions between robots being developed by different manufacturers in order to set up a Multi-Robot System (MRS). An MRS refers to a team consisting of interacting industrial robots which share skills to increase performance. The mapping of classical control development methods for Single-Robot Systems (SRSs) to MRSs is difficult. Based on a classification of interactions within MRSs, a TaskOriented Control (TOC) approach is suggested and examined. Furthermore, with Simulation Based Control (SBC) an approach for continuous development of event-driven multi-robot controls according to the Rapid Control Prototyping (RCP) is presented. SBC supports TOC and the mapping of interactions via tasks. Based on SBC and MATLAB/Stateflow a prototypical, task-oriented model library for interacting robots is developed and tested. Introduction Collaborative Robots Single-Robot System MultiRobot Systems Industrial Robot Language Programming Language for Robots Robot Operating System Freymann et al. Task-oriented Multi-Robot Applications with MATLAB/Stateflow 84 SNE 26(2) – 6/2016 TN Robotic Control & Visualization Task-Oriented Control Simulation Based Control Rapid Control Prototyping 1 Fundamentals Multi-Robot System Single-Robot Systems 1.1 Robotic Control & Visualization Toolbox for MATLAB/Simulink Scientific and Technical Computing Environments Robotic Control & Visualization Control PC Visualization PC Figure 1: Principle structure of an RCV-based multi-robot application. 1.2 Task-oriented control design Task-Oriented Control