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Development of Virtual Factory Using Supervisory Control Theory

利用监控理论开发虚拟工厂

基本信息

批准号：
13650971
负责人：
KAJIWARA Hiroyuki
金额：
$ 2.24万
依托单位：
Kyushu University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2001
资助国家：
日本
起止时间：
2001 至 2002
项目状态：
已结题

项目摘要

Consider a robot with six legs to walk around a mudflat for collecting environmental data. In PARI (The Port and Airport Research Institute), such a robot has been developed for the last 3 years. We have also realized its prototype using MINDSTORMS with six CPUs as shown. In the control system design, we need the two kinds of controllers, which are (1) servo controller for following a command given for each joint in each leg, and (2) gait controller to give the command to collaborate the six legs. In the paper, we are concerned with the latter case. It is well known that the gait is smoothly realized by the tripod method. However, in an emergency case to avoid some obstacle, there is a possibility that the one leg would get into a hassle with the next legs. The problem could not be solved very well by the ordinary way of generating the motion data of tripod method for several cases because there are a number of complicate cases driven by unexpected events. In our opinion, the problem should be treated as a DES (Discrete Event-driven System) control problem. From the above discussion, we are motivated to apply DES control theory to supervisory controller design for a system of robots (legs in the above), that is, a manufacturing system consisting of machines. In general, however, it is hard to calculate DES controllers by hand calculation, which means the necessity to develop a computer-aided design tool. In the paper, we present DES Analysis and Synthesis Toolbox that we developed as a collection of our original M-files using MATLAB based on the textbook by C.G.Cassandras and S.Lafortune, and show its application to a collision avoidance problem related to two machines working in a narrow space. The experimental implementation was successfully done by utilizing MINDSTORMS and Real-Time Workshop Embedded Coder.

考虑一个有六条腿的机器人在泥滩上行走以收集环境数据。在PARI（港口和机场研究所），这种机器人已经开发了3年。我们还实现了它的原型使用MINDSTORMS与六个CPU，如图所示。在控制系统的设计中，我们需要两种控制器，即（1）伺服控制器，用于遵循每条腿中每个关节的命令，以及（2）步态控制器，用于发出命令以协调六条腿。在本文中，我们关注的是后一种情况。众所周知，步态是顺利实现的三脚架方法。然而，在紧急情况下为了避免一些障碍物，一条腿可能会与下一条腿发生冲突。由于存在大量由突发事件驱动的复杂情况，通常的三角架法运动数据生成方法不能很好地解决这一问题。在我们看来，该问题应被视为离散事件驱动系统（DES）控制问题。从上述讨论中，我们的动机是应用DES控制理论的机器人系统（腿在上面），即，由机器组成的制造系统的监督控制器的设计。然而，一般情况下，很难计算DES控制器的手工计算，这意味着有必要开发一个计算机辅助设计工具。在本文中，我们提出了DES分析和合成的，我们开发的原始M文件的集合，使用MATLAB的基础上的教科书C.G.Cassandras和S.Lafortune，并显示其应用程序的碰撞避免问题有关的两台机器在狭窄的空间工作。利用MINDSTORMS和Real-Time Workshop嵌入式编码器成功地进行了实验实现。