Motion Optimization and Design of Closed Chain Robotic Systems

闭链机器人系统的运动优化与设计

• 批准号: 9006667
• 负责人: John McCarthy
• 金额: $ 21.71万
• 依托单位: University of California-Irvine
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1990
• 资助国家: 美国
• 起止时间: 1990-12-15 至 1994-11-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9006667&HistoricalAwards=false
• 关键词: Motion; Optimization; Design; Closed; Chain

This proposal addresses the optimization of the movement of spatial closed chain robotic systems formed by two or more robots holding the same object. The proposed research is to generalize an already developed planar motion optimization algorithm to spatial closed chains, and form an interactive system for motion optimization and design of closed chain robotic systems. The work proposes to develop three items including (1) the local path optimizer for optimizing the motion of the closed chain along a given path using a linear programming algorithm for time optimal control, (2) the feasible path generator which generates the initial path between the start and goal configurations, and (3) the motion optimization routine which varies the path to find the optimum. These items will be packaged to enable the user to vary the start and goal positions to study optima, and to vary the dynamic parameters of the robots and workpiece as well. This work is of potential engineering importance in optimal planing for multiple robot systems. Initially, the resulting algorithms will be computationally intensive, but ultimately, they will be streamlined to make them compatible with future robot design.

本提案涉及优化 空间闭链机器人系统由两个或多个 机器人拿着同样的东西 拟议的研究是 推广一个已经发展的平面运动 空间闭链的优化算法，并形成 运动优化和设计的交互式系统 闭环机器人系统 该工作建议制定 三个项目包括（1）本地路径优化器 优化封闭链沿着给定的运动 用线性规划算法进行路径时间优化 控制，（2）可行路径生成器， 起始和目标配置之间的初始路径， 以及（3）运动优化例程，其改变 找到最佳路径。 这些物品将被包装成 使用户能够改变开始和目标位置， 研究最佳，并改变动态参数的 机器人和工件也是如此。 这项工作是有潜力的 工程重要性，在最佳规划多 机器人系统 最初，产生的算法将是 计算密集型，但最终，他们将 使其与未来的机器人兼容 设计