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变革性的技术。机器人技术在制造系统中的有效应用对未来经济增长、创造就业机会和提高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、更精确、更好的智能和更强的适应性。****研究计划：在本研究计划中，将开发更好的智能，更有弹性和自适应的机器人系统的新方法，研究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，并制定更好的策略来设计和控制这种系统进行高级操作。提出的研究计划涉及两种新范式的结合：性能集成和分解（PID）和系统杂交（SH）。PID模式表明了系统性能与结构分解相结合的集成。因此，PID提供了一种解决明显矛盾的策略：当设计和控制倾向于将系统划分为实现多个功能或约束的子系统或组件时，子系统必须协同工作以执行这些多个功能。此外，SH通过实现混合机构、混合优化和混合驱动来提高机器人系统的性能。SH方法协同整合各组成部分，以最大限度地发挥其互补优势并最大限度地减少其弱点。****意义：该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，这不仅有助于制造，而且还促进了其他应用，例如用于现场救援的机器人。该研究将为具有更好智能和弹性的机器人系统提供新的方法，并将这些新的理论和方法应用于制造业带来经济效益。该研究项目的结果将为高性能机器人系统的开发提供关键见解，并将通过提高加拿大工业中目前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.**