High Performance, Intelligent and Efficient Robotic Systems: Performance Integration, Decomposition and System Hybridization

背景：机器人技术为21世纪的制造系统提供了一种革命性的技术。在制造系统中有效地使用机器人技术对于未来的经济增长、创造就业机会和全球竞争力至关重要。为了满足不断发展的制造业的需求，机器人必须更快、更准确、更智能、更具适应性。 研究计划：在这个研究计划中，将开发更智能、更具弹性和自适应的机器人系统的新方法，检查和优化机器人精度和速度之间的关系，探索机器人系统的性能集成问题，并为先进操作开发更好的设计和控制这种系统的策略。拟议的研究计划涉及两个新范式的结合：绩效集成与分解(PID)和系统杂交(SH)。PID范例表明了系统性能的综合以及其结构的分解。因此，PID为解决一个明显的矛盾提供了一种策略：虽然设计和控制倾向于将系统划分为满足多种功能或约束的子系统或组件，但这些子系统必须协同工作来执行这些多重功能。此外，SH通过实施混合机构、混合优化和混合驱动来提高机器人系统的性能。SH方法协同集成各个组件，以最大限度地发挥它们的互补优势，最大限度地减少它们的弱点。 意义：这项研究可以直接影响下一代机器人系统的新理论和方法的发展，这不仅有利于制造，还可以促进其他应用，如用于野战救援的机器人。这些新的理论和方法的应用将为机器人系统提供更好的智能性和弹性，并将为制造业带来经济效益。该研究项目的结果将为开发更高性能的机器人系统提供关键的见解，并将通过改善目前在加拿大工业中使用的许多机器人产品的性能和效率，对加拿大制造业经济产生积极影响。

BACKGROUND: Robotics provides a transformative technology for manufacturing system in the 21st century. Effective use of robotics in manufacturing system is essential to future economic growth, job creation and global competitiveness. To meet the needs of the evolving manufacturing industry, robots must be faster, more accurate, better intelligence and more adaptable. RESEARCH PROGRAM: In this research program, new methodologies for better intelligence, more resilience and adaptive robotic systems will be developed, the relationship between robot accuracy and speed will be examined and optimized, and the issue of performances integration for robotic system will be explored and a better strategy to design and control such system for advanced manipulation will be developed. The proposed research program involves the combination of two new paradigms: Performance Integration and Decomposition (PID) and System Hybridization (SH). The PID paradigm indicates the integration of system performances in conjunction with the decomposition of their structures. Thus, PID provides a strategy for resolving an apparent contradiction: while design and control tends to divide the system into subsystems or components that fulfill multiple functions or constraints, the subsystems must work together to perform these multiple functions. Furthermore, SH improves the robotic system performance by implementing hybrid mechanisms, hybrid optimization, and hybrid actuation. The SH approach synergistically integrates components to maximize their complementary strengths and minimize their weaknesses. SIGNIFICANCE: The research can directly impact on the development of new theories and methodologies for next-generation robotic systems, which not only facilitate manufacturing but also promote other applications, such as robots for field rescue. The research will generate novel methodology for robotic system with better intelligence and resilience, and will bring economic benefits for the manufacturing industry by applying these new theories and methodologies. The results of the research program will provide a key insight for the development of higher performance robotic systems, and will positively impact the Canadian manufacturing economy by improving the performance and efficiency of many robotic products currently used in Canadian industries.