Intelligent Low-level Control of Multiple Manipulator Robotic Systems

这项研究集中在两个任务，完全分散 控制多个机器人分担相同的工作量， 和控制太空中的机器人 通常是为了合作 机器人，每个机器人由其自己的控制模块控制， 平行的方式。 然而，有一个真实的时间沟通 通道，包括模块之间的公共总线结构， 实现控制模块之间的协调。 为此 在配置中，机器人被称为集中式。 不幸的是，对于某些条件，即，当机器人 由不同的制造商制造，或者当控制器 由于位置相隔很远，因此不可能提供公共总线。 它 那么就有必要完全分散控制权， 方案，即让它们彼此独立地运行。 本项目研究实现这一目标的方法。 的 推测是每个机器人都能准确地估计动作 另一种是通过检测被处理物体的运动， 并且通过感测其自身与 object. 这一假设将作为本研究的第一项任务进行测试。 项目 在第二个任务中，目的是处理 与动力学效应相关的问题， 机器人与其所在空间系统之间的相互作用 接触。 研究的目的是设计一个方案， 机器人和空间系统在大范围内保持静止不动。 在两者的互动中。

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.