基于智能体的仿人机器人控制系统设计
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摘要
仿人机器人具有众多的关节与自由度,包括双臂、颈部、腰部、双腿等,这些关节要连接在一起,进行统一的协调控制,这就对控制系统的可靠性、实时性都提出了更高的要求。因此,控制系统性能的好坏对整个仿人机器人系统的影响是至关重要的。
为了提高仿人机器人控制系统的稳定性和实时性,特别是遇到异常情况时的稳定性和实时性,本文通过分析了各种控制系统的优缺点后,然后对分布式控制系统进行了改进,提出了基于智能体的仿人机器人分层控制系统。该系统主要由主控层、通讯层和执行层三部分构成,其中执行层被划分为多个智能体,每个智能体具有自己的处理器、关节驱动器和传感器。每个智能体都具有一定的自主性,不仅可以将相应传感器的数据转换为机器人的实际状态,而且可以直接对机器人的一些异常情况进行处理,提高了系统处理突发事件的实时性,还能够协同主控层检测机器人肢体碰撞,缩短了机器人检测肢体碰撞的时间。
为了满足基于智能体的仿人机器人控制系统的性能,采用TI公司的DSP TMS320F2812和Xilinx公司的CPLD设计了运算、通信能力强大的控制器,提高了控制系统的性能。同时采用实时内核uC/OS-II作为控制器的操作系统,提高了控制系统的实时性。
将设计好的控制系统软件硬件应用到MIH-1仿人机器人上进行实
Humanoid robot has many joints, such as arms, neck, waist and legs. To combine all these joints together and coordinate them to accomplish desired tasks, what the humanoid robot needs is a control system that has high real-time ability and stability. Therefore, to choose a suitable control system is significant to a humanoid robot system.
To improve humanoid robot stability and real-time performance in unexpected conditions, this paper presents a novel hierarchical control structure based on multi-agents, including main control layer, communication layer and execution layer. The execution layer consists of some agents and each agent has its own controller, motor drivers and sensors. Each agent not only can detect self-collisions between robot links cooperating with main control layer, but also has the ability to detect and deal with some unexpected conditions of the robot directly. Thus the computation burden on main control layer is reduced and real-time performance of the system is improved.
To realize the control performance of the control system, I employ the processor of TMS320F2812 of TI Corporation and CPLD of Xilinx Corporation to design the joint controller, which has high computation and communication performance. Besides, I choose the real-time kernel operating system uC/OS-II as the operating system of the controller,
为了提高仿人机器人控制系统的稳定性和实时性,特别是遇到异常情况时的稳定性和实时性,本文通过分析了各种控制系统的优缺点后,然后对分布式控制系统进行了改进,提出了基于智能体的仿人机器人分层控制系统。该系统主要由主控层、通讯层和执行层三部分构成,其中执行层被划分为多个智能体,每个智能体具有自己的处理器、关节驱动器和传感器。每个智能体都具有一定的自主性,不仅可以将相应传感器的数据转换为机器人的实际状态,而且可以直接对机器人的一些异常情况进行处理,提高了系统处理突发事件的实时性,还能够协同主控层检测机器人肢体碰撞,缩短了机器人检测肢体碰撞的时间。
为了满足基于智能体的仿人机器人控制系统的性能,采用TI公司的DSP TMS320F2812和Xilinx公司的CPLD设计了运算、通信能力强大的控制器,提高了控制系统的性能。同时采用实时内核uC/OS-II作为控制器的操作系统,提高了控制系统的实时性。
将设计好的控制系统软件硬件应用到MIH-1仿人机器人上进行实
Humanoid robot has many joints, such as arms, neck, waist and legs. To combine all these joints together and coordinate them to accomplish desired tasks, what the humanoid robot needs is a control system that has high real-time ability and stability. Therefore, to choose a suitable control system is significant to a humanoid robot system.
To improve humanoid robot stability and real-time performance in unexpected conditions, this paper presents a novel hierarchical control structure based on multi-agents, including main control layer, communication layer and execution layer. The execution layer consists of some agents and each agent has its own controller, motor drivers and sensors. Each agent not only can detect self-collisions between robot links cooperating with main control layer, but also has the ability to detect and deal with some unexpected conditions of the robot directly. Thus the computation burden on main control layer is reduced and real-time performance of the system is improved.
To realize the control performance of the control system, I employ the processor of TMS320F2812 of TI Corporation and CPLD of Xilinx Corporation to design the joint controller, which has high computation and communication performance. Besides, I choose the real-time kernel operating system uC/OS-II as the operating system of the controller,
引文
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[4] 李允明.国外仿人机器人发展概况, 机器人,2005 年 06 期
[5] Kazuo Hirai, Masato Hirose, Yuji Haikawa, etc. The Development of Honda Humanoid Robot. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA ’98), pp. 1321–1326, 1998
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[8] Noritake K, Kato S, Yamakita T, etc. Amotion generation system for humanoid robots-Tai Chi motion Micromechatronics and Human Science, 2003. MHS2003. Proceedings of 2003 International Symposium on 19-22 Oct. 2003 Page(s):265-269
[9] A.Kato, A.Takaishi, I.Kato. The realization of the Quasi dynamic walking by the biped walking machine,1981,Romansy:341-351
[10] A.Takanishi, M.Ishida, Y.Yamazaki, etc. The realization of dynamic walking by biped robot WL-10RD.IEEE Int, Conf.on Autonomous robot 1985,Tokyo: 459-467
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[13] K.Nagasaka, M. Inaba and H.Inoue. Dynamic walking pattern generation for humanoid robot based on optimal gradient method, IEEE Int. Conf, on System, Man, and Cybernetics, 1999, Tokyo: 908-913
[14] K.Hirai, M.Hirose, and T.Takenaka. The development of Honda humanoid robot. IEEE Int, Conf, on Robotics and Automation, 1998, Leuven: 1321-1326
[15] Sylvain calinon, Florent Guenter and Aude Billard. Goal-Directed imitation in a humanoid robot.IEEE Int, Conf, on Robotics and Automation, 2005, Barcelona: 300-305
[16] Yamasaki F, Endo K, Kitano H. Asada M Acquisition of humanoid walking motion using genetic algorithm Considering characteristics of servo modules. ICRA. IEEE International Conference on Volume 3, 11-15 May 2002 Page(s): 3123-3128
[17] Naoki Kanamori, Kazuo Tanaka. Operating Feeling Based Design in Human-robot Collaborative Control Systems , Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation,July 16-20,2003, Kobe, Japan
[18] Frank S Cheng, Lin Zhao. The Design of a Control System Testbed for a 2-DOF Robot. 2004 IEEE International Symposium on Computer Aided Control Systems Design Taipei, Taiwan, Sep 24, 2004
[19] I. E. Paromtchik, H. Asama. A Control System for an Omnidirectional Mobile Robot. Proceedings of the 1999 IEEE lnmational Conference on Convol Applications Kohala Coast-Island of Hawaii, Hawaii, USA, August 22-21. 1999
[20] Jinxiang Shen, Jiangping Liu, Hui Zhang, etc. Distributed Control System for Modular Self-Reconfigurable Robots. Distributed Control System for Modular Self-Reconfigurable Robots
[21] 冯金光,周华平,马宏绪.基于 CAN 总线和 DSP 的仿人机器人运动控制系统研究,总线与网络,2004.5
[22] 钟华,吴镇炜,卜春光.仿人机器人控制系统的研究与实现,机器人,第 27 卷第 5 期,2005.9
[23] 赵建东,卲黎君,徐凯等.基于 CAN 总线的仿人机器人关节伺服控制系统研究,机器人,第 24 卷第 5 期,2002.9
[24] 巩星明,段秋红,李淑英.工业计算机控制系统的基本分类及发展趋势,西山科技,No.5,Oct.2001
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[26] Yoshihiro Kuroki. A Small Biped Entertainment Robot [C]. Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2001: 181- 186
[27] Kai Xu, Ken Chen, Jinsong Wang, etc. A New Method of Gait Generation for A Biped Walking Robot [C]. Proceedings of the IEEE2RA S International Conference on Humanoid Robots, 2001
[28] Marcelo Luis Dultra. Fieldbus Control System [J]. Advances in Instrumentation and Control, 1996, 51
[29] Jung-Yup Kim, Ill-Woo Park, Jungho Lee, etc. System Design and Dynamic Walking of Humanoid Robot KHR-2, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 1443-1448, Barcelona, Spain, April 2005
[30] Mingguo Zhao, Li Liu, Jingsong Wang, etc. Control System Design of THBIP-I Humanoid Robot, Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2253-2258, Washington, DC, May 2002
[31] 白焰,吴鸿,杨国田.分散控制系统与现场总线控制系统,北京,中国电力出版社,2001,178~189
[32] 方海军,孙政顺,杜继宏等.基于 CAN 总线的自主式仿人型机器人控制系统,机器人 ROBOT,2002. 24(1): 58-61.
[33] Wooldridge, M.J. and Jennings, N.R. Intelligent agents: Theory and practice, The Knowledge Engineering Review 10(2) pp, 115-152.
[34] 汪思源,曹妍,赵永生等.工监控系统中多智能体协调控制的设计,大连海事大学学报,第25 卷第 2 期,1999
[35] 杨煜普,黄新民,许晓鸣.通用部分全局规划方法在多智能体协调控制中的应用,上海交通大学学报,第 33 卷第 4 期,1999
[36] 蔡自兴,徐光佑.人工智能及其应用[M],北京:清华大学出版社,1996.1-403
[37] 郭亮,黄席樾.基于智能体的分布式计算研究,重庆大学硕士毕业论文,2002: 5-6
[38] 胡海清,傅鹤岗,朱庆生.基于软件 Agent 技术的内容分发网络研究,计算机应用,第 24卷第 6 期,2004.6
[39] 宁柯军,杨汝清.基于多智能体的机械臂嵌入式系统控制,上海交通大学学报,2005 年 12期
[40] [39] 宁柯军,杨汝清,翁新华.基于多智能体的机电设备嵌入式控制系统设计方法,上海交通大学学报,2005 年 12 期
[41] Xusheng Lei, Jing Pan, Jianbo Su. Humanoid Robot Locomotion, IEEE International Conference on Machine Learning and Cybernetics, pp. 882-887, Guangzhou, china, 2005
[42] 周凤余.基于 CAN 总线的喷浆机器人计算机控制系统的设计与实现[J ],山东矿业学院学报,1999, 18 (2) : 63-65
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