Intelligent Low-level Control of Multiple Manipulator Robotic Systems

本研究主要围绕两个任务展开，一是多机器人协作、分担相同工作量的完全分散控制，二是空间机器人的控制。通常，对于协作机器人，每个机器人由其自己的控制模块以并行方式控制。然而，在模块之间存在实时通信通道，该通道包括公共总线结构，以实现控制模块之间的协调。对于这种配置，机器人被认为是集中式的。不幸的是，在某些情况下，即，当机器人由不同的制造商制造时，或者当控制器位于很远的地方时，不可能提供公共总线。然后有必要将控制方案完全分散，即让它们相互独立地运行。这个项目研究一种实现这一目标的方法。推测是，每个机器人都可以通过感知被处理对象的运动以及自身与对象之间的相互作用力来准确地估计对方的动作。这一假设将作为本项目的第一个任务进行检验。在第二个任务中，目的是处理与机器人与其接触的空间系统之间的交互相关的动力学效应相关的问题。研究目标是设计一种方案，使机器人和空间系统在两者相互作用期间保持总体静止。

This research focuses on two tasks, completely decentralized control of cooperating multiple robots sharing the same workload, and control of robots in space. Typically for cooperating robots, each robot is controlled by its own control module in a parallel manner. However, there is a real time communication channel, comprising a common bus structure, between modules to enable coordination between control modules. For this configuration, the robots are said to be centralized. Unfortunately, for some conditions, i.e., when the robots are made by different manufacturers or when the controllers are located far apart, providing a common bus is not possible. It then becomes necessary to completely decentralize the control scheme, that is , have them operate independently of each other. This project investigates a method for achieving that goal. The conjecture is that each robot can accurately estimate the action of the other by sensing the motion of the object being handled, and by sensing the interaction force between itself and the object. This hypothesis will be tested as the first task in this project. In the second task, the intent is to deal with the problem associated with the dynamics effects associated with interaction between a robot and the space system which it is in contact with. The research goal is to devise a scheme whereby both the robot and space system remain stationary in the large during interactions between the two.