模块化自重构多指手自组织变形规划研究
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摘要
多指手作为机器人的执行器,实现在复杂环境下对物体抓取和操作,引起了人们的广大兴趣。本文在综合分析国内外模块化自重构机器人和多指手研究现状、发展水平的基础上,提出了模块化自重构多指手的概念,深入讨论和研究了模块化自重构多指手构形拓扑转换的智能算法,自组织变形方法,并实现了可视化仿真。
首先,在分析典型模块化自重构机器人模块结构的基础上,构建正六面体、晶格型的模块模型,运用特征向量法对其进行描述。建立了模块化自重构多指手模型,给出了邻接矩阵描述法和特征向量矩阵描述法,并建立对应的数学模型。
其次,描述了模块化自重构多指手构形的拓扑结构。针对构形拓扑转换进行了规划,并采用遗传模拟退火和蚁群算法进行优化。结果表明,构形拓扑转换的连接变化操作次数被有效地降低,提高了模块化自重构多指手的自重构效率。
接着,结合模块的基本运动,采用基于全离散的、智能的变形规划方法,运用简单的纯逻辑的规则来产生分布式的控制算法,从而大大简化了变形的复杂性和变形步骤,实现了模块化自重构多指手的自组织变形。最后,利用VC++/OpenGL开发软件,实现了三维可视化仿真平台,形象地演示了模块化自重构多指手移动、翻越障碍和抓取物体的全过程。
As an end-effector of a robot manipulator, the hand realizes grasping and dexterous manipulating in complex situation, which has attracted serious attentions in robot community. Based on the synthetic analysis of the state and development of modular self-reconfigurable robots and multi-fingered robot hands, a novel concept named the modular self-reconfigurable robot hand is presented.The intelligent algorithm of configuration topological transformation of modular self-reconfigurable robot hands, self-organizing metamorphosis schemes and realization of visual simulation have been analyzed.
Firstly, based on the synthetic analysis of typical module of modular self-reconfigurable robots, cuboid and crystal models of modules are bulit. The models are described by symbolic vector algorithm, and the mathematics model is built. Models of modular self-reconfigurable robot hands are desicrbed by adjoin matrixes and symbolic vector matrixes.
Secondly, configuration topologies of modular self-reconfigurable multi- fing -ered hands are described. Configuration topological transformation for modular self-reconfigurable robot hands is programmed. The topological transformation is optimized by Genetic Simulated Annealing and Ant Colony Algorithm. The results show that the connective variations, i.e. connections or disconnections in the self-reconfiguration are reduced, which to improve the efficiency of self-reco -nfiguration for modular self-reconfigurable robot hands.
Thirdly, considering basic module motion rules, the distributed control schemes are built by the easy and logical rule, based on the full-discrete and intelligent metamorphic planning method. So, the metamorphic complexity and steps are reduced, and the self-organizing metamorphosis can be obtained.
Finally, a visual simulation platform is developed by VC/OpenGL to demonstrate the moving, the climbing over obstructions and the grasping objects.
首先,在分析典型模块化自重构机器人模块结构的基础上,构建正六面体、晶格型的模块模型,运用特征向量法对其进行描述。建立了模块化自重构多指手模型,给出了邻接矩阵描述法和特征向量矩阵描述法,并建立对应的数学模型。
其次,描述了模块化自重构多指手构形的拓扑结构。针对构形拓扑转换进行了规划,并采用遗传模拟退火和蚁群算法进行优化。结果表明,构形拓扑转换的连接变化操作次数被有效地降低,提高了模块化自重构多指手的自重构效率。
接着,结合模块的基本运动,采用基于全离散的、智能的变形规划方法,运用简单的纯逻辑的规则来产生分布式的控制算法,从而大大简化了变形的复杂性和变形步骤,实现了模块化自重构多指手的自组织变形。最后,利用VC++/OpenGL开发软件,实现了三维可视化仿真平台,形象地演示了模块化自重构多指手移动、翻越障碍和抓取物体的全过程。
As an end-effector of a robot manipulator, the hand realizes grasping and dexterous manipulating in complex situation, which has attracted serious attentions in robot community. Based on the synthetic analysis of the state and development of modular self-reconfigurable robots and multi-fingered robot hands, a novel concept named the modular self-reconfigurable robot hand is presented.The intelligent algorithm of configuration topological transformation of modular self-reconfigurable robot hands, self-organizing metamorphosis schemes and realization of visual simulation have been analyzed.
Firstly, based on the synthetic analysis of typical module of modular self-reconfigurable robots, cuboid and crystal models of modules are bulit. The models are described by symbolic vector algorithm, and the mathematics model is built. Models of modular self-reconfigurable robot hands are desicrbed by adjoin matrixes and symbolic vector matrixes.
Secondly, configuration topologies of modular self-reconfigurable multi- fing -ered hands are described. Configuration topological transformation for modular self-reconfigurable robot hands is programmed. The topological transformation is optimized by Genetic Simulated Annealing and Ant Colony Algorithm. The results show that the connective variations, i.e. connections or disconnections in the self-reconfiguration are reduced, which to improve the efficiency of self-reco -nfiguration for modular self-reconfigurable robot hands.
Thirdly, considering basic module motion rules, the distributed control schemes are built by the easy and logical rule, based on the full-discrete and intelligent metamorphic planning method. So, the metamorphic complexity and steps are reduced, and the self-organizing metamorphosis can be obtained.
Finally, a visual simulation platform is developed by VC/OpenGL to demonstrate the moving, the climbing over obstructions and the grasping objects.
引文
[1] T.okada, Computer control of multi-jointed finger sysytem for precise object-handing, IEEE Transaction on system, and Cybernetics, 1982 , 12(3):289~299
[2] T.okada, A new tactile sense design base on supension shells, In S. T. Venkataraman and T.Iberall (EDS), Dexterous Robot hands, NY, Spring-verlag 1990,14(7):267~285
[3] J.K.Salisbury, Design and control of an articulated hand, In proc. of 1st international Symposium on design and synthesis, Tokyo, 1984:78~87
[4] J.K.Salisbury,J.J.Craig, Articulated hands: force control and kinematic issues, the International Journal of Robotics Research, 1982 , 1(1):201~210
[5] M.T.Mason,J.K.Salisbury, Robot hands and the Mechanics of Manipulation, MIT Press, 1985:120~125
[6] S.C.Jacobsen, J.E.Wood, The Utah/MIT hand: Work in progress, The International Journal of Robotics Research, 1984, 3(4):21~50
[7] S.C.Jacobsen, E.Kiversen, Design of Utah/MIT Dexterous hand,In Proc. IEEE International Conference on Robotics and Automation,1986:1520~1532
[8] J.Butterfass, G.Hirzinger, S.Knoch, DLR’s Multisensory Articulated Hand Part Ⅰ: Hard and Software Architecture, In Proc.IEEE International Conference on Robotics and Automation, May 1998:2081~2086
[9] H.Liu, P.Meusel, J.Butterfass, DLR’s Multisensory Articulated Hand Part Ⅱ:The Parallel Torque/Position control system, In Proc.IEEE International Conference on Robotics and Automation, May 1998:2086~2093
[10] Caffaz, G.Cannata, The Design and Development of the DIST-Hand, Dexterous Gripper, May 1998: 2075~2081
[11] J.K.Salisbury, B.Roth, Kinematic and Force Analysis of Articulated Mechanical Hands, ASME J.of Mechanical Design, 1983, 10(5):35~41
[12] 熊有伦, 点接触约束理论与机器人抓取定性分析,中国科学,1994, 24(8), 876~883
[13] V.D.Nguyen, The sythesis of force closure grasps in plane, Master’s thesis, Massachusettes: MIT,1985: 96~102
[14] ünsal C, Khosla P K,Solutions for 3-D Self-reconfigurationina Modular RoboticSystem: Implementation and Motion Planning, Proceedings of SPIE, Sensor Fusion and Decentralized Controlin Robotic SystemsIII, Boston, MA, 2000,41 (96):388~401
[15] ünsal C,Kilic C,Khosla P, A Modular Self-reconfigurable Bipartite Robotic System: Implementation and Motion Planning,Technical Report, ICES, CMU, Pittsburgh, PA:2000:78~85
[16] ünsal C,Kilic C, Khosla P, A Modular Self-reconfigurable Bipartite Robotic System, Proceedings of SPIE, Sensor Fusionand Decentralized Controling Robotic Systems II.Boston,MA,1999:258~269
[17] ünsal C,Khosla P, Mechatronic Design of a Modular Self-reconfiguring Robotic System, Proceedings of the IEEE International Conference on Robotics and Automation, SanFrancisco, CA, 2000:514~520
[18] Fukuda T, Nakagawa S, Dynamically,Reconfigurable Robotic System , Proceedings of the IEEE/IROS, Victoria,Canada ,1988:1581~1586
[19] Murata S, Yoshida E, Kamimura A, Tomita K and Kokaji S, M-TRAN: Self-Reconfigur -able Modular Robotic System, IEEE/ASME TRANSACTIONS ON MECHATRO -NICS, 2002, 7(4): 431~442
[20] Castano A, Behar A, Peter M, The Conro Modules for Reconfigurable Robots, IEEE/ASME TRANSACTIONS ON MECHATRONICS, 2002, 7(4):403~410
[21] Castano A, Will P, Mechanical Design of a Module for Reconfigurable Robots, Proceedings of the IEEE/RSJ International Conference on intelligent Robots and Systems,Boston, MA,April 2000:2203~2210
[22] Pamercha A, Chirikjian G,A useful metric for modular robot motion planning, Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota , April 1996:242~248
[23] Chirikjian G, Pamecha A, Bounds for Self-Reconfiguration of Metamorphic Robots, Proceedings of the 1996 IEEE International Conference on Robotics and Automation Minneapolis, Minnesota , April 1996:1452~1458
[24] Rus D,Vona M,A Physical Implementation of the Self-reconfiguring Crystalline Robot,Proceedings of the 2000 IEEE lntemational Conference on Robotics 8 Automation San Francisco, CA ,April 2000:726~733
[25] 盛文蔚,徐威,王高中,等,自重构机器人的结构特征和研究现状,组合机床与自动化加工技术,2003, 7:36~38
[26] ünsal C, Pradeep K, Khosla, Mechatronic Design of a Modular Self-Reconfiguring Robotic System, lntemational Conference on Robotics & Automation San Francisco, CA April 2OOO:1742~1747
[27] Kurokawa H, Yoshida E,Murata S, Automatic locomotion design and experiments for a Modular robotic system ,Mechatronics, IEEE/ASME Transactions,2005,10(3):314~325
[28] 赵 杰 , 张 亮 , 杨 冬 , 等 , 自 重 构 模 块 机 器 人 的 研 究 与 发 展 现 状 , 中 国 机 械 工程,2002,13(17):1524~1528
[29] 刘明尧,谈大龙,李斌,可重构模块化机器人现状和发展,机器人,2001, 23(3):275~279
[30] Pamecha A, Chirikjian G, A usefulmetric for modular robot motion planning, ProceedIngs of the IEEE International Conference on Robotics and Automation, Minneapolis, MN, 1996:442~447
[31] Yoshida E, Murata S, Tomita K, Distributed For mation Control for a Modular, Mechanica System,Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Grenoble, France, 1997:1090~1097
[32] Murata S,Kurokawa H,Yoshida E , A 3D Self-reconfigurable Structure ,Proceedings of the IEEE International Conferenceon Robotics andAutomation, Leuven, Belgium, 1998:432~439
[33] Kotay K, Rus D, Algorithms for Self-reconfiguring Molecule Motion Planning, Pro –ceedings of the IEEE/RSJ International Conferenceon Intelligent Robots and Systems,Takamatsu, Japan, 2000:2184~2193
[34] Yoshida E ,Murata S, Kamimura A, Reconfiguration Planning for a Self-assembling Modular Robot,Proceedings of the 4th IEEE International Symposium on Assembly and Task Planning,Fukuoka,Japan,2001:276~281
[35] 赵 杰,张 亮,蔡鹤皋,一种均一阵列式模块化自重构机器人的机构设计研究,机械与电子,2003, 10(4):56~59
[36] 夏 平,朱新坚,费燕琼,一种新型自重构模块机器人的设计和运动策略,中国机械工程,2006, 17(15):1549~1552
[37] 徐 威,王高中,王石刚,模块化自重构机器人变形算法的仿真研究,系统仿真学 报,2004, 16(5):883~886
[38] 徐雪松,葛 彤,朱继懋,模块化自重构机器人最优构形拓扑转换,上海交通大学学报, 2005,39(6):899~904
[39] 何炎祥 , 陈莘萌 ,Agent 和多 Agent 系统的设计与应用,武汉 , 武汉大学出版社2001:152~160
[40] 王从庆,机器人多指手控制方法的研究,[博士学位论文],北京,北京科技大学,1995.1
[41] 管贻生,多指手操作:理论、算法和实验,[博士学位论文],北京,北京航空航天大学,1998.6
[42] 张先迪,李正良,图论及其应用,北京,高等教育出版社,2005:123~130
[43] 周明,孙树栋,遗传算法原理及应用,北京:国防工业出版社,1999:170~182
[44] Dorigo M,Gambardella L M,A cooperative learning approach to the traveling salesman problem,IEEEE Transon Evolutionary Computation,1997, 1(1):53~66
[45] 蒋建国,基于改进型蚁群算法求解旅行Agent问题,模式识别与人工智能,2003, 16 (1):621~627
[46] ManiezzoV, Colorni A,The ant system applied to the quadraticas signment problem, IEEE Transaction son Knowledge and Data Engineering, 1999, 11(6):769~778
[47] 马良,来自昆虫世界的寻优策略—蚂蚁算法,自然杂志,1999, 21(30):161~163
[48] Bojinov,Casal A,Hogg T,Multiagent Controlof Self-reconfigurable Robots,Proc Int Conf on Multiagent System,USA:Boston Massachusetts, IEEE Computer Society, 2000:143~150
[49] Murata S, Kurokawa H, Yoshida E, A 3-D Self-reconfigurable Structure and Experiments .Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems,Victoria, B.C ,Canada,1998:860~865
[50] 费广正,乔林,Visual C++6.0高级编程技术—OpenGL篇,北京,中国铁道出版社,2000:78~90
[2] T.okada, A new tactile sense design base on supension shells, In S. T. Venkataraman and T.Iberall (EDS), Dexterous Robot hands, NY, Spring-verlag 1990,14(7):267~285
[3] J.K.Salisbury, Design and control of an articulated hand, In proc. of 1st international Symposium on design and synthesis, Tokyo, 1984:78~87
[4] J.K.Salisbury,J.J.Craig, Articulated hands: force control and kinematic issues, the International Journal of Robotics Research, 1982 , 1(1):201~210
[5] M.T.Mason,J.K.Salisbury, Robot hands and the Mechanics of Manipulation, MIT Press, 1985:120~125
[6] S.C.Jacobsen, J.E.Wood, The Utah/MIT hand: Work in progress, The International Journal of Robotics Research, 1984, 3(4):21~50
[7] S.C.Jacobsen, E.Kiversen, Design of Utah/MIT Dexterous hand,In Proc. IEEE International Conference on Robotics and Automation,1986:1520~1532
[8] J.Butterfass, G.Hirzinger, S.Knoch, DLR’s Multisensory Articulated Hand Part Ⅰ: Hard and Software Architecture, In Proc.IEEE International Conference on Robotics and Automation, May 1998:2081~2086
[9] H.Liu, P.Meusel, J.Butterfass, DLR’s Multisensory Articulated Hand Part Ⅱ:The Parallel Torque/Position control system, In Proc.IEEE International Conference on Robotics and Automation, May 1998:2086~2093
[10] Caffaz, G.Cannata, The Design and Development of the DIST-Hand, Dexterous Gripper, May 1998: 2075~2081
[11] J.K.Salisbury, B.Roth, Kinematic and Force Analysis of Articulated Mechanical Hands, ASME J.of Mechanical Design, 1983, 10(5):35~41
[12] 熊有伦, 点接触约束理论与机器人抓取定性分析,中国科学,1994, 24(8), 876~883
[13] V.D.Nguyen, The sythesis of force closure grasps in plane, Master’s thesis, Massachusettes: MIT,1985: 96~102
[14] ünsal C, Khosla P K,Solutions for 3-D Self-reconfigurationina Modular RoboticSystem: Implementation and Motion Planning, Proceedings of SPIE, Sensor Fusion and Decentralized Controlin Robotic SystemsIII, Boston, MA, 2000,41 (96):388~401
[15] ünsal C,Kilic C,Khosla P, A Modular Self-reconfigurable Bipartite Robotic System: Implementation and Motion Planning,Technical Report, ICES, CMU, Pittsburgh, PA:2000:78~85
[16] ünsal C,Kilic C, Khosla P, A Modular Self-reconfigurable Bipartite Robotic System, Proceedings of SPIE, Sensor Fusionand Decentralized Controling Robotic Systems II.Boston,MA,1999:258~269
[17] ünsal C,Khosla P, Mechatronic Design of a Modular Self-reconfiguring Robotic System, Proceedings of the IEEE International Conference on Robotics and Automation, SanFrancisco, CA, 2000:514~520
[18] Fukuda T, Nakagawa S, Dynamically,Reconfigurable Robotic System , Proceedings of the IEEE/IROS, Victoria,Canada ,1988:1581~1586
[19] Murata S, Yoshida E, Kamimura A, Tomita K and Kokaji S, M-TRAN: Self-Reconfigur -able Modular Robotic System, IEEE/ASME TRANSACTIONS ON MECHATRO -NICS, 2002, 7(4): 431~442
[20] Castano A, Behar A, Peter M, The Conro Modules for Reconfigurable Robots, IEEE/ASME TRANSACTIONS ON MECHATRONICS, 2002, 7(4):403~410
[21] Castano A, Will P, Mechanical Design of a Module for Reconfigurable Robots, Proceedings of the IEEE/RSJ International Conference on intelligent Robots and Systems,Boston, MA,April 2000:2203~2210
[22] Pamercha A, Chirikjian G,A useful metric for modular robot motion planning, Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota , April 1996:242~248
[23] Chirikjian G, Pamecha A, Bounds for Self-Reconfiguration of Metamorphic Robots, Proceedings of the 1996 IEEE International Conference on Robotics and Automation Minneapolis, Minnesota , April 1996:1452~1458
[24] Rus D,Vona M,A Physical Implementation of the Self-reconfiguring Crystalline Robot,Proceedings of the 2000 IEEE lntemational Conference on Robotics 8 Automation San Francisco, CA ,April 2000:726~733
[25] 盛文蔚,徐威,王高中,等,自重构机器人的结构特征和研究现状,组合机床与自动化加工技术,2003, 7:36~38
[26] ünsal C, Pradeep K, Khosla, Mechatronic Design of a Modular Self-Reconfiguring Robotic System, lntemational Conference on Robotics & Automation San Francisco, CA April 2OOO:1742~1747
[27] Kurokawa H, Yoshida E,Murata S, Automatic locomotion design and experiments for a Modular robotic system ,Mechatronics, IEEE/ASME Transactions,2005,10(3):314~325
[28] 赵 杰 , 张 亮 , 杨 冬 , 等 , 自 重 构 模 块 机 器 人 的 研 究 与 发 展 现 状 , 中 国 机 械 工程,2002,13(17):1524~1528
[29] 刘明尧,谈大龙,李斌,可重构模块化机器人现状和发展,机器人,2001, 23(3):275~279
[30] Pamecha A, Chirikjian G, A usefulmetric for modular robot motion planning, ProceedIngs of the IEEE International Conference on Robotics and Automation, Minneapolis, MN, 1996:442~447
[31] Yoshida E, Murata S, Tomita K, Distributed For mation Control for a Modular, Mechanica System,Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Grenoble, France, 1997:1090~1097
[32] Murata S,Kurokawa H,Yoshida E , A 3D Self-reconfigurable Structure ,Proceedings of the IEEE International Conferenceon Robotics andAutomation, Leuven, Belgium, 1998:432~439
[33] Kotay K, Rus D, Algorithms for Self-reconfiguring Molecule Motion Planning, Pro –ceedings of the IEEE/RSJ International Conferenceon Intelligent Robots and Systems,Takamatsu, Japan, 2000:2184~2193
[34] Yoshida E ,Murata S, Kamimura A, Reconfiguration Planning for a Self-assembling Modular Robot,Proceedings of the 4th IEEE International Symposium on Assembly and Task Planning,Fukuoka,Japan,2001:276~281
[35] 赵 杰,张 亮,蔡鹤皋,一种均一阵列式模块化自重构机器人的机构设计研究,机械与电子,2003, 10(4):56~59
[36] 夏 平,朱新坚,费燕琼,一种新型自重构模块机器人的设计和运动策略,中国机械工程,2006, 17(15):1549~1552
[37] 徐 威,王高中,王石刚,模块化自重构机器人变形算法的仿真研究,系统仿真学 报,2004, 16(5):883~886
[38] 徐雪松,葛 彤,朱继懋,模块化自重构机器人最优构形拓扑转换,上海交通大学学报, 2005,39(6):899~904
[39] 何炎祥 , 陈莘萌 ,Agent 和多 Agent 系统的设计与应用,武汉 , 武汉大学出版社2001:152~160
[40] 王从庆,机器人多指手控制方法的研究,[博士学位论文],北京,北京科技大学,1995.1
[41] 管贻生,多指手操作:理论、算法和实验,[博士学位论文],北京,北京航空航天大学,1998.6
[42] 张先迪,李正良,图论及其应用,北京,高等教育出版社,2005:123~130
[43] 周明,孙树栋,遗传算法原理及应用,北京:国防工业出版社,1999:170~182
[44] Dorigo M,Gambardella L M,A cooperative learning approach to the traveling salesman problem,IEEEE Transon Evolutionary Computation,1997, 1(1):53~66
[45] 蒋建国,基于改进型蚁群算法求解旅行Agent问题,模式识别与人工智能,2003, 16 (1):621~627
[46] ManiezzoV, Colorni A,The ant system applied to the quadraticas signment problem, IEEE Transaction son Knowledge and Data Engineering, 1999, 11(6):769~778
[47] 马良,来自昆虫世界的寻优策略—蚂蚁算法,自然杂志,1999, 21(30):161~163
[48] Bojinov,Casal A,Hogg T,Multiagent Controlof Self-reconfigurable Robots,Proc Int Conf on Multiagent System,USA:Boston Massachusetts, IEEE Computer Society, 2000:143~150
[49] Murata S, Kurokawa H, Yoshida E, A 3-D Self-reconfigurable Structure and Experiments .Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems,Victoria, B.C ,Canada,1998:860~865
[50] 费广正,乔林,Visual C++6.0高级编程技术—OpenGL篇,北京,中国铁道出版社,2000:78~90