可重构模块化机器人建模、优化与控制
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摘要
可重构模块化机器人由一组具有相同接口的模块组成，可根据不同的任务组装成不同的构型。与传统的机器人相比，可重构模块化机器人对任务和环境的适应能力更强，更具有柔性。模块化具有简化设计制造和维护、缩短研制周期、降低成本等优点，大大增强了系统构建时的灵活性和弹性，已成为机器人系统研究的热点。对可重构模块化机器人的运动学、型综合、尺度综合、误差及控制等方面的基础和关键技术进行研究可以促进可重构模块化机器人的实用化，具有重要的理论和应用价值。本文对模块化机器人的这些基本和关键问题进行系统深入的研究，主要内容和进展如下：
(1)数学建模：提出一种可重构模块化机器人运动学、动力学自动建模方法。该方法在装配层将可重构模块化机器人的构型描述成有向树或装配关联矩阵的形式，并根据不同的构型自动生成相应的运动学、动力学模型。为适应不同的任务和模块化机器人构型的多样性，逆解采用了遗传算法和迭代方法相结合的面向任务的求解方法。
(2)构型和尺度设计：为解决可重构模块化机器人在应用时如何找到合适的构型来满足特定任务的问题，提出了一种面向任务的构型多目标优化方法。该方法具有面向任务和多目标优化等特点，涵盖了自由度、可达性、能耗等多方面的性能优化，适用于模块化机器人的构型设计。尺度设计问题则是在构型确定的情况下，建立通过调整连杆尺寸来获得最优性能的优化模型。该模型通过归一化方法将多个性能评价指标组合成单一的无量纲目标函数值，然后用全局优化算法求最优解。该模型对模块化机器人的设计具有指导意义，同时该模型具有较强的通用型，适应于一般串联机器人的尺度优化。
(3)结合面建模：由于相邻模块之间需要连接，每个连杆通过接触面由几部分组成，不可避免地破坏了机器人连杆结构的一体性和连续性，降低了模块化机器人整机性能。为分析模块之间的结合面对模块化机器人精度的影响，建立了基于分形理论的模块化机器人模块结合面受力与变形误差的关系模型。不同于一般机械结合面受均匀外载荷时的接触模型，该模型考虑了模块结合面受力非均匀的情况。结合面误差模型的建立为分析模块化机器人模块结合面静态、动态性能奠定了基础。
(4)控制系统的体系结构与实现：提出了一种具有开放式和分布式结构的模块化机器人控制系统。采用CAN总线通讯，提高了各控制模块之间传送数据的效率；采用模块化设计方法，使之具备了开放性好、开发周期短、易于扩展、可重构等特点。控制系统既满足示教/再现式的传统的一般性控制要求，又满足自主/半自主式的智能化的要求。运动规划部分给出了一种实用的机器人平滑轨迹规划算法，能够很好地实现基本轨迹段之间的过渡和平滑运动，算法简洁易用，而且对加速度和跃度等运动参数的限制更加方便，同时采用单位四元数进行姿态的插补避免了万向节死锁等问题。最后通过对操作臂、爬杆、爬壁等构型的机器人系统的实验，验证了控制系统的合理性及相关关键算法的正确性。
To meet different task requirements, a Reconfigurable Modular Robot (RMR) isdesigned, which can be assembled into different configurations by some modules with thesame connection interfaces. Compared with traditional robots, RMR is more flexible andadaptable for different environments. It also can simplify the design, manufacturing andmaintenance, shorten the development cycle and reduce development costs, etc. It’s worthyand practical to research on the key technologies of RMR, such as kinematics, dynamics, typesynthesis, dimensional synthesis, error and control, etc. The works of this paper areintroduced as follows:
(1) Mathematical modelling: A method to generate the kinematics and dynamics modularautomatically is proposed. The configuration of RMR is described as a tree structure or anassembly incidence matrix in assembly-level. Kinematics and dynamics models can begenerated automatically according to different configuration. A task-oriented method, whichcombined with genetic algorithm and iterative method, is proposed to solve inversekinematics problem for different task and configurations of RMR.
(2) Configuration and dimension design: For solving the problem of finding suitablerobot configurations in application of RMR, a task-oriented multi-objective configurationoptimization method is proposed. This method is applicable to the configuration design ofRMR, which take into account performance optimization of degrees-of-freedom, reachability,energy consumption, and so on. Dimension design is to establish an optimal model by resizethe link size based on a fixed configuration. Using the normalization method, multipleperformance metrics are combined into a single dimensionless objective function value in themodel, then, the optimal solution is given by the global optimization algorithm. The modelcan the modular robot design, and has a strong versatility for the dimension optimization ofgeneral serial robot.
(3) Joint surface modeling: The structure continuity and overall performance of robotlink is destroyed by the fixed joint surface between the adjacent modules. To analyze theinfluence on the accuracy from the joint surface between the modules of RMR, a relationalmodel between force and deformation error of module joint surface is established based onfractal theory. Unlike the contact model of general mechanical joint surface under the uniformexternal load, this model is about non-uniform load. The static and dynamic performance ofRMR can be analysed by joint surface error model.
(4) Control system: a RMR control system with open and distributed structure isproposed. Via CAN bus communication, the efficiency of data transfer between the controlmodules is improved. Using the modular design method, the proposed control system is open,short in development and reconfigurable. The control system not only meets the traditionalgeneral control requirements of teach/playback, but also meets the intelligence requirementsof autonomous/semi-autonomous. A practical spatial trajectory planning algorithm ispresented in the section of motion planning, which can achieve a good transition between thebasic trajectory segments and smooth motion. This simple and practical algorithm can ensurethe continuity of the trajectory acceleration and effectively reduce the impact. Orientation isinterpolated using unit quaternion to avoid the gimbal lock. Finally, experiments are done onthe manipulator, pole-climbing and wall-climbing robot, verify the reasonableness of thecontrol system and the correctness of the key algorithms.
(1)数学建模：提出一种可重构模块化机器人运动学、动力学自动建模方法。该方法在装配层将可重构模块化机器人的构型描述成有向树或装配关联矩阵的形式，并根据不同的构型自动生成相应的运动学、动力学模型。为适应不同的任务和模块化机器人构型的多样性，逆解采用了遗传算法和迭代方法相结合的面向任务的求解方法。
(2)构型和尺度设计：为解决可重构模块化机器人在应用时如何找到合适的构型来满足特定任务的问题，提出了一种面向任务的构型多目标优化方法。该方法具有面向任务和多目标优化等特点，涵盖了自由度、可达性、能耗等多方面的性能优化，适用于模块化机器人的构型设计。尺度设计问题则是在构型确定的情况下，建立通过调整连杆尺寸来获得最优性能的优化模型。该模型通过归一化方法将多个性能评价指标组合成单一的无量纲目标函数值，然后用全局优化算法求最优解。该模型对模块化机器人的设计具有指导意义，同时该模型具有较强的通用型，适应于一般串联机器人的尺度优化。
(3)结合面建模：由于相邻模块之间需要连接，每个连杆通过接触面由几部分组成，不可避免地破坏了机器人连杆结构的一体性和连续性，降低了模块化机器人整机性能。为分析模块之间的结合面对模块化机器人精度的影响，建立了基于分形理论的模块化机器人模块结合面受力与变形误差的关系模型。不同于一般机械结合面受均匀外载荷时的接触模型，该模型考虑了模块结合面受力非均匀的情况。结合面误差模型的建立为分析模块化机器人模块结合面静态、动态性能奠定了基础。
(4)控制系统的体系结构与实现：提出了一种具有开放式和分布式结构的模块化机器人控制系统。采用CAN总线通讯，提高了各控制模块之间传送数据的效率；采用模块化设计方法，使之具备了开放性好、开发周期短、易于扩展、可重构等特点。控制系统既满足示教/再现式的传统的一般性控制要求，又满足自主/半自主式的智能化的要求。运动规划部分给出了一种实用的机器人平滑轨迹规划算法，能够很好地实现基本轨迹段之间的过渡和平滑运动，算法简洁易用，而且对加速度和跃度等运动参数的限制更加方便，同时采用单位四元数进行姿态的插补避免了万向节死锁等问题。最后通过对操作臂、爬杆、爬壁等构型的机器人系统的实验，验证了控制系统的合理性及相关关键算法的正确性。
To meet different task requirements, a Reconfigurable Modular Robot (RMR) isdesigned, which can be assembled into different configurations by some modules with thesame connection interfaces. Compared with traditional robots, RMR is more flexible andadaptable for different environments. It also can simplify the design, manufacturing andmaintenance, shorten the development cycle and reduce development costs, etc. It’s worthyand practical to research on the key technologies of RMR, such as kinematics, dynamics, typesynthesis, dimensional synthesis, error and control, etc. The works of this paper areintroduced as follows:
(1) Mathematical modelling: A method to generate the kinematics and dynamics modularautomatically is proposed. The configuration of RMR is described as a tree structure or anassembly incidence matrix in assembly-level. Kinematics and dynamics models can begenerated automatically according to different configuration. A task-oriented method, whichcombined with genetic algorithm and iterative method, is proposed to solve inversekinematics problem for different task and configurations of RMR.
(2) Configuration and dimension design: For solving the problem of finding suitablerobot configurations in application of RMR, a task-oriented multi-objective configurationoptimization method is proposed. This method is applicable to the configuration design ofRMR, which take into account performance optimization of degrees-of-freedom, reachability,energy consumption, and so on. Dimension design is to establish an optimal model by resizethe link size based on a fixed configuration. Using the normalization method, multipleperformance metrics are combined into a single dimensionless objective function value in themodel, then, the optimal solution is given by the global optimization algorithm. The modelcan the modular robot design, and has a strong versatility for the dimension optimization ofgeneral serial robot.
(3) Joint surface modeling: The structure continuity and overall performance of robotlink is destroyed by the fixed joint surface between the adjacent modules. To analyze theinfluence on the accuracy from the joint surface between the modules of RMR, a relationalmodel between force and deformation error of module joint surface is established based onfractal theory. Unlike the contact model of general mechanical joint surface under the uniformexternal load, this model is about non-uniform load. The static and dynamic performance ofRMR can be analysed by joint surface error model.
(4) Control system: a RMR control system with open and distributed structure isproposed. Via CAN bus communication, the efficiency of data transfer between the controlmodules is improved. Using the modular design method, the proposed control system is open,short in development and reconfigurable. The control system not only meets the traditionalgeneral control requirements of teach/playback, but also meets the intelligence requirementsof autonomous/semi-autonomous. A practical spatial trajectory planning algorithm ispresented in the section of motion planning, which can achieve a good transition between thebasic trajectory segments and smooth motion. This simple and practical algorithm can ensurethe continuity of the trajectory acceleration and effectively reduce the impact. Orientation isinterpolated using unit quaternion to avoid the gimbal lock. Finally, experiments are done onthe manipulator, pole-climbing and wall-climbing robot, verify the reasonableness of thecontrol system and the correctness of the key algorithms.
引文
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