机械手类毕业设计外文文献翻译.docx

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1、毕业设计(论文)外文资料翻译系别：专业：班级：姓名：学号：外文出处：附件：L原文；2.译文2013年03月附件一：ARapidlyDeployableManipulatorSystemChristiaanJJ.Paredis,H.BenjaminBrown,PradeepK.KhoslaAbstract:Arapidlydeployablemanipulatorsystemcombinestheflexibilityofreconfigurablemodularhardwarewithmodularprogrammingtools,allowingtheusertorapidlycreatea

2、manipulatorwhichiscustom-tailoredforagiventask.Thisarticledescribestwomainaspectsofsuchasystem,namely,theReconfigurableModularManipulatorSystem(RMMS)hardwareandthecorrespondingcontrolsoftware.1 IntroductionRobotmanipulatorscanbeeasilyreprogrammedtoperformdifferenttasks,yettherangeoftasksthatcanbeper

3、formedbyamanipulatorislimitedbymechanicalstructure.Forexample,amanipulatorwell-suitedforprecisemovementacrossthetopofatablewouldprobablynobecapableofliftingheavyobjectsintheverticaldirection.Therefore,toperformagiventask,oneneedstochooseamanipulatorwithanappropriatemechanicalstructure.Weproposetheco

4、nceptofarapidlydeployablemanipulatorsystemtoaddresstheabovementionedshortcomingsoffixedconfigurationmanipulators.AsisillustratedinFigure1,arapidlydeployablemanipulatorsystemconsistsofsoftwareandhardwarethatallowtheusertorapidlybuildandprogramamanipulatorwhichisCustomtailoredforagiventask.Thecentralb

5、uildingblockofarapidlydeployablesystemisaReconfigurableModularManipulatorSystem(RMMS).TheRMMSutilizesastockofinterchangeablelinkandjointmodulesofvarioussizesandperformancespecifications.OnesuchmoduleisshowninFigure2.Bycombiningthesegeneralpurposemodules,awiderangeofspecialpurposemanipulatorscanbeass

6、embled.Recently,therehasbeenconsiderableinterestintheideaofmodularmanipulators2,4,5,7,9,10,14,forresearchapplicationsaswellasforindustrialapplications.However,mostofthesesystemslackthepropertyofreconfigurability,whichiskeytotheconceptofrapidlydeployablesystems.TheRMMSisparticularlyeasytoreconfiguret

7、hankstoitsintegratedquick-couplingconnectorsdescribedinSection3.EffectiveuseoftheRMMSrequires,TaskBasedDesignsoftware.Thissoftwaretakesasinputdescriptionsofthetaskandoftheavailablemanipulatormodules;itgeneratesasoutputamodularassemblyconfigurationOptimallysuitedtoperformthegiventask.Several(Iifferen

8、tapproacheshavebeenusedsuccessfullytosolvesimpli-fiedinstancesofthiscomplicatedproblem.Athirdimportantbuildingblockofarapidlydeployablemanipulatorsystemisaframeworkforthegenerationofcontrolsoftware.Toreducethecomplexityofsoftwaregenerationforreal-timesensor-basedcontrolsystems,asoftwareparadigmcalle

9、dsoftwareassemblyhasbeenproposedintheAdvancedManipulatorsLaboratoryatCMU.Thisparadigmcombinestheconceptofreusableandreconfigurablesoftwarecomponents,asissupportedbyIheChimerareal-timeoperatingsystem15,withagraphicaluserinterfaceandavisualprogramminglanguage,implementedinOnikaAlthoughthesoftwareassem

10、blyparadigmprovidesthesoftwareinfrastructureforrapidlyprogrammingmanipulatorsystems,itdoesnotsolvetheprogrammingproblemitself.Explicitprogrammingofsensor-basedmanipulatorsystemsiscumbersomeduetotheextensiveamountOfdetailwhichmustbespecifiedfortherobottoperformthetask.Thesoftwaresynthesisproblemforse

11、nsor-basedrobotscanbesimplifieddramatically,byprovidingrobustroboticskills,thatis,encapsulatedstrategiesforaccomplishingcommontasksintherobotstaskdomain1l.SuchroboticskillscanthenbeusedatthetasklevelplanningstagewithouthavingtoconsideranyoftheIow-IeveldetailsAsanexampleoftheuseofarapidlydeployablesy

12、stem,consideramanipulatorinanuclearenvironmentwhereitmustinspectmaterialandspaceforradioactivecontamination,orassembleandrepairequipment.Insuchanenvironment,widelyvariedkinematic(e.g.,workspace)anddynamic(e.g.,speed,payload)performanceisrequired,andtheserequirementsmaynotbeknownapriori.Insteadofprep

13、aringalargesetofdifferentmanipulatorstoaccomplishthesetasks一anexpensivesolution-onecanusearapidlydeployablemanipulatorsystem.Considerthefollowingscenario:assoonasaspecifictaskisidentified,thetaskbaseddesignsoftwaredeterminesthetask.ThisoptimalconfigurationisthenassembledfromtheRMMSmodulesbyahumanor,

14、inthefuture,possiblybyanothermanipulator.TheFesultingmanipulatorisrapidlyprogrammedbyusingthesoftwareassemblyparadigmandourlibraryofroboticskills.Finally,themanipulatorisdeployedtoperformitstask.Althoughsuchascenarioisstillfuturistic,thedevelopmentofthereconfigurablemodularmanipulatorsystem,describe

15、dinthispaper,isamajorstepforwardtowardsourgoalofarapidlydeployablemanipulatorsystem.Ourapproachcouldformthebasisforthenextgenerationofautonomousmanipulators,inwhichthetraditionalnotionofsensor-basedautonomyisextendedtoconfiguration-basedautonomy.Indeed,althoughadeployedsystemcanhaveallthesensoryandp

16、lanninginfbrmationitneeds,itmaystillnotbeabletoaccomplishitstaskbecausethetaskisbeyondthesystem,sphysicalcapabilities.Arapidlydeployablesystem,ontheOtherhand,couldadaptitsphysicalcapabilitiesbasedontaskspecificationsand,withadvancedsensing,control,andplanningstrategies,accomplishthetaskautonomously.2 Designofself-containedhardwaremodulesInmostindustrialmanipulators,thecontrollerisaseparateunithousingthesensorinterfaces,poweramplifiers,and