多机械臂系统网络化协调模式的理论与控制策略研究

This project belongs to the program of application fundamental research. The primary object of this project is aimed at cooperative multi-manipulator robots being an important and distinguished representative of modern industrial modern robots. Based on modern network science theory in combination with classical robot dynamics, this project is devoted to modeling, analyzing and controlling of networked architecture for cooperative multi-manipulator systems. The main research issues are addressed as follows: Firstly, this project tries theoretically to analyses the network interactive mode both information communications and physical constraints among agents, and deeply to explore nonlinear dynamics, synchronization effects and energy transfer rules between units and modules, and then systematically to reveals evolution mechanism and coordination law for multi-manipulator systems. Secondly, from the view of application, for different kinds of closed cooperative objects with non-uniform distribution in practical engineering, for instance grasping, lifting and handling, et c, this project intend to put forward more effective position/ force coordinated strategies with better robustness, universality, extensibility and adaptiveness. Furthermore, this project intends to implement platform frameworks and experimental research for cooperative tri-manipulator robots so as to demonstrate the correctness and effectiveness of the theoretical results. Consequently, it should be believed that the research of this project not only illustrates cooperative evolution mechanism and control coordinated principle of modern multi-manipulator robots, but also will provide some new insights and methods for both innovation and design of the modern intelligent robot systems in practical applications.

本项目定位于应用基础性研究，以现代工业机器人主体和核心部件机械臂为对象，将经典的机器人动力学和现代网络科学理论有机结合起来，主要研究多机械臂系统协调模式网络化动力学建模、分析与控制。从理论上分析系统个体信息关联与物理约束的网络交互模式，探索系统部分单元和模块间非线性动力学响应、同步化效应、力和能量传递规律，揭示多机械臂系统协调模式的演化机制与协调规律。从应用上针对实际工程中非均匀分布紧协作的不同对象(如抓取、托举和搬运等)，提出具有更好鲁棒性、普适性、拓展性和适应性的基于位置/力协调控制方案，通过实施三机械臂非均匀分布紧协作平台构架的算法测试与实验研究来验证协作多机械臂网络化动力学与控制这一研究模式的正确性和有效性。本项目研究有助于揭示现代多机器人系统合作演化机制与协调控制原理，同时为应用到现代协作多机器人的技术创新与设计提供新的思想和新的方法。

本项目以现代工业机器人主体和核心部件的机械臂为对象，主要研究多机械臂系统协调模式网络化动力学建模、分析与控制。本项目研究内容具体总结为如下几个方面: 一、多机械臂系统网络化聚类涌现与多目标协同；二、网络化机械臂系统分布式区域可达控制；三、多机械臂系统区域编队控制集群智能算法；四、柔性机械臂系统自适应可达控制策略。本项目在多机械臂系统网络化的聚类演化分群机制和区域可达控制等方面取得一系列国际上原创性的成果, 在所属研究领域国际一流杂志Automatica， IEEE/ASME Trans和 Robotica等以及国内外重要的学术会议发表论文30余篇，其中SCI论文13篇和EI论文4篇, 这些研究结果被美国、欧洲等二十多个国家和地区包括IEEE/IFAC Fellow十余名学者在多篇综述性文章中正面评论和引用，这些成果也为我们研制全自动智能化核酸采样机器人精准柔顺区域作业以及自主移动番茄采摘机器人系统智能识别与决策等关键技术的实现提供了重要价值的参考。本项目研究有助于拓展以机械臂为应用载体机器人系统理论的研究内涵和领域，同时为应用到现代协作多机器人的技术创新与设计提供新的思想和方法。