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附件一：ARapidlyDeployableManipulatorSystemAuthor:ChristiaanJ.J.Paredis,H.BenjaminBrown,PradeepK.KhoslaAbstract:Arapidlydeployablemanipulatorsystemcombinestheflexibilityofreconfigurablemodularhardwarewithmodularprogrammingtools,allowingtheusertorapidlycreateamanipulatorwhichiscustom-tailoredforagiventask.Thisarticledescribestwomainaspectsofsuchasystem,namely,theReconfigurableModularManipulatorSystem(RMMS)hardwareandthecorrespondingcontrolsoftware.1IntroductionRobotmanipulatorscanbeeasilyreprogrammedtoperformdifferenttasks,yettherangeoftasksthatcanbeperformedbyamanipulatorislimitedbymechanicalstructure.Forexample,amanipulatorwell-suitedforprecisemovementacrossthetopofatablewouldprobablynobecapableofliftingheavyobjectsintheverticaldirection.Therefore,toperformagiventask,oneneedstochooseamanipulatorwithanappropriatemechanicalstructure.Weproposetheconceptofarapidlydeployablemanipulatorsystemtoaddresstheabovementionedshortcomingsoffixedconfigurationmanipulators.AsisillustratedinFigure1,arapidlydeployablemanipulatorsystemconsistsofsoftwareandhardwarethatallowtheusertorapidlybuildandprogramamanipulatorwhichiscustomtailoredforagiventask.ThecentralbuildingblockofarapidlydeployablesystemisaReconfigurableModularManipulatorSystem(RMMS).TheRMMSutilizesastockofinterchangeablelinkandjointmodulesofvarioussizesandperformancespecifications.OnesuchmoduleisshowninFigure2.Bycombiningthesegeneralpurposemodules,awiderangeofspecialpurposemanipulatorscanbeassembled.Recently,therehasbeenconsiderableinterestintheideaofmodularmanipulators,forresearchapplicationsaswellasforindustrialapplications.However,mostofthesesystemslackthepropertyofreconfigurability,whichiskeytotheconceptofrapidlydeployablesystems.TheRMMSisparticularlyeasytoreconfigurethankstoitsintegratedquick-couplingconnectorsdescribedinSection3.EffectiveuseoftheRMMSrequires,TaskBasedDesignsoftware.Thissoftwaretakesasinputdescriptionsofthetaskandoftheavailablemanipulatormodules;itgeneratesasoutputamodularassemblyconfigurationoptimallysuitedtoperformthegiventask.Severaldifferentapproacheshavebeenusedsuccessfullytosolvesimpli-fiedinstancesofthisAthirdimportantbuildingblockofarapidlydeployablemanipulatorsystemisaframeworkforthegenerationofcontrolsoftware.Toreducethecomplexityofsoftwaregenerationforreal-timesensor-basedcontrolsystems,asoftwareparadigmcalledsoftwareassemblyhasbeenproposedintheAdvancedManipulatorsLaboratoryatCMU.Thisparadigmcombinestheconceptofreusableandreconfigurablesoftwarecomponents,asissupportedbytheChimerareal-timeoperatingsystem,withagraphicaluserinterfaceandavisualprogramminglanguage,inplementedinOnika.Althoughthesoftwareassemblyparadigmprovidesthesoftwareinfrastructureforrapidlyprogrammingmanipulatorsystems,itdoesnotsolvetheprogrammingproblemitself.Explicitprogrammingofsensor-basedmanipulatorsystemsiscumbersomeduetotheextensiveamountofdetailwhichmustbespecifiedfortherobottoperformthetask.Thesoftwaresynthesisproblemforsensor-basedrobotscanbesimplifieddramatically,byprovidingrobustroboticskills,thatis,encapsulatedstrategiesforaccomplishingcommontasksintherobotstaskdomain.Suchroboticskillscanthenbeusedatthetasklevelplanningstagewithouthavingtoconsideranyofthelow-leveldetailsAsanexampleoftheuseofarapidlydeployablesystem,consideramanipulatorinanuclearenvironmentwhereitmustinspectmaterialandspaceforradioactivecontamination,orassembleandrepairequipment.Insuchanenvironment,widelyvariedkinematic(e.g.,workspace)anddynamic(e.g.,speed,payload)performanceisrequired,andtheserequirementsmaynotbeknownapriori.Insteadofpreparingalargesetofdifferentmanipulatorstoaccomplishthesetasks—anexpensivesolution—onecanusearapidlydeployablemanipulatorsystem.Considerthefollowingscenario:assoonasaspecifictaskisidentified,thetaskbaseddesignsoftwaredeterminesthetask.ThisoptimalconfigurationisthenassembledfromtheRMMSmodulesbyahumanor,inmanipulator.Theresultingmanipulatorisrapidlyprogrammedbyusingthesoftwareassemblyparadigmandourlibraryofroboticskills.Finally,themanipulatorisdeployedtoperformitstask.lockingcollaronthemaleendproducestwodistinctmotions:firstthefingersofthelockingringrotate(withthecollar)about22.5degreesandcapturethefingersontheflanges;second,thecollarrotatesrelativetothelockingring,whileacammechanismforcesthefingersinwardtosecurelygripthematingflanges.Aball-transfermechanismbetweenthecollarandlockingringautomaticallyproducesthissequenceofmotions.Atthesametimethemechanicalconnectionismade,pneumaticandelectronicconnectionsarealsoestablished.Insidethelockingringisamodularconnectorthathas30maleelectricalpinsplusapneumaticcouplerinthemiddle.Thesecorrespondtomatchingfemalecomponentsonthematingconnector.Setsofpinsarewiredinparalleltocarrythe72V-25Apowerformotorsandbrakes,and48V–6Apowerfortheelectronics.AdditionalpinscarrysignalsfortwoRS-485serialcommunicationbussesandfourvideobusses.Aplasticguidecollarplussixalignmentpinspreventdamagetotheconnectorpinsandassureproperalignment.Theplasticblockholdingthefemalepinscanrotateinthehousingtoaccommodatetheeightdifferentpossibleconnectionorientations(8@45degrees).TherelativeorientationisautomaticallyregisteredbymeansofaninfraredLEDinthefemaleconnectorandeightphotodetectorsinthemaleconnector.4ARMbuscommunicationsystemEachofthemodulesoftheRMMScommunicateswithaVME-basedhostinterfaceoveralocalareanetworkcalledtheARMbus;eachmoduleisanodeofthenetwork.ThecommunicationisdoneinaserialfashionoveranRS-485buswhichrunsthroughthelengthofthemanipulator.WeusetheARCNETprotocol[1]implementedonadedicatedIC(SMCCOM20020).ARCNETisadeterministictoken-passingnetworkschemewhichavoidsnetworkcollisionsandguaranteeseachnodeitstimetoaccessthenetwork.Blocksinformationcalledpacketsmaybesentfromanynodeonthenetworktoanyoneoftheothernodes,ortoallnodessimultaneously(broadcast).Eachnodemaysendonepacketeachtimeitgetsthetoken.Themaximumnetworkthroughputis5Mb/s.Thefirstnodeofthenetworkresidesonthehostinterfacecard,asisdepictedinFigure6.InadditiontoaVMEaddressdecoder,thiscardcontainsessentiallythesamehardwareonecanfindonamodulemotherboard.ThecommunicationbetweentheVMEsideofthecardandtheARCNETsideoccursthroughdual-portRAM.Therearetwokindsofdatapassedoverthelocalareanetwork.Duringthemanipulatorinitializationphase,themodulesconnecttothenetworkonebyone,startingatthebaseandendingattheend-effector.Onjoiningthenetwork,eachmodulesendsadata-packettothehostinterfacecontainingitsserialnumberanditsrelativeorientationwithrespecttothepreviousmodule.Thisinformationallowsustoautomaticallydeterminethecurrentmanipulatorconfiguration.Duringtheoperationphase,thehostinterfacecommunicateswitheachofthenodesat400Hz.Thedatathatisexchangeddependsonthecontrolmode—centralizedordistributed.Incentralizedcontrolmode,thetorquesforallthejointsarecomputedontheVME-basedreal-timeprocessingunit(RTPU),assembledintoadata-packetbythemicrocontrolleronthehostinterfacecardandbroadcastovertheARMbustoallthenodesofthenetwork.Eachnodeextractsitstorquevaluefromthepacketandrepliesbysendingadata-packetcontainingtheresolverandtachometerreadings.Indistributedcontrolmode,ontheotherhand,thehostcomputerbroadcaststhedesiredjointvaluesandfeed-forwardtorques.Locally,ineachmodule,thecontrolloopcanthenbeclosedatafrequencymuchhigherthan400Hz.Themodulesstillsendsensorreadingsbacktothehostinterfacetobeusedinthecomputationofthesubsequentfeed-forwardtorque.5ModularandreconfigurablecontrolsoftwareThecontrolsoftwarefortheRMMShasbeendevelopedusingtheChimerareal-timeoperatingsystem,whichsupportsreconfigurableandreusablesoftwarecomponents.ThesoftwarecomponentsusedtocontroltheRMMSarelistedinTable1.Thetrjjline,dls,andoftheRMMS,suchasthenumberofdegrees-of-freedom,theDenavit-Hartenbergparametersetc.Duringtheinitializationphase,theRMMSinterfaceestablishescontactwitheachofthehardwaremodulestodetermineautomaticallywhichmodulesarebeingusedandinwhichorderandorientationtheyhavebeenassembled.Foreachmodule,adatafilewithaparametricmodelisread.Bycombiningthisinformationforallthemodules,kinematicanddynamicmodelsoftheentiremanipulatorare．Aftertheinitialization,thermmssoftwarecomponentoperatesinadistributedcontrolmodeinwhichthemicrocontrollersofeachoftheRMMSmodulesperformPIDcontrollocallyat1900Hz.Thecommunicationbetweenthemodulesandthehostinterfaceisat400Hz,whichcandifferfromthecyclefrequencyofthermmssoftwarecomponent.Sinceweuseatriplebuffermechanismforthecommunicationthroughthedual-portRAMontheARMbushostinterface,nosynchronizationorhandshakingisnecessary.BecauseclosedforminversekinematicsdonotexistforallpossibleRMMSconfigurations,weuseadampedleast-squareskinematiccontrollertodotheinversekinematicscomputationnumerically.6SeamlessintegrationofsimulationToassisttheuserinevaluatingwhetheranRMMScon-figurationcansuccessfullycompleteagiventask,wehavebuiltasimulator.ThesimulatorisbasedontheTeleGriprobotsimulationsoftwarefromDenebInc.,andrunsonanSGICrimsonwhichisconnectedwiththereal-timeprocessingunitthroughaBit3VME-to-VMEadaptor,asisshowninFigure6.AgraphicaluserinterfaceallowstheusertoassemblesimulatedRMMSconfigurationsverymuchlikeassemblingtherealhardware.CompletedconfigurationscanbetestedandprogrammedusingtheTeleGripfunctionsforrobotdevices.TheconfigurationscanalsobeinterfacedwiththeChimerareal-timesoftwarerunningonthesameRTPUsusedtocontroltheactualhardware.Asaresult,itispossibletoevaluatenotonlythemovementsofthemanipulatorbutalsotherealtimeCPUusageandloadbalancing.Figure7showsanRMMSsimulationcomparedwiththeactualtaskexecution.7SummaryWehavedevelopedaReconfigurableModularManipulatorSystemwhichcurrentlyconsistsofsixhardwaremodules,withatotaloffourdegrees-of-freedom.Thesemodulescanbeassembledinalargenumberofdifferentconfigurationstotailorthekinematicanddynamicpropertiesofthemanipulatortothetaskathand.ThecontrolsoftwarefortheRMMSautomaticallyadaptstotheassemblyconfigurationbybuildingkinematicanddynamicmodelsofthemanipulator;thisistotallytransparenttotheuser.Toassisttheuserinevaluatingwhetheramanipulatorconfigurationiswellsuitedforagiventask,wehavealsobuiltasimulator.AcknowledgmentThisresearchwasfundedinpartbyDOEundergrantDE-F902-89ER14042,bySandiaNationalLaboratoriesundercontractAL-3020,bytheDepartmentofElectricalandComputerEngineering,andbyTheRoboticsInstitute,CarnegieMellonUniversity.TheauthorswouldalsoliketothankRandyCasciola,MarkDeLouis,EricHoffman,andJimMoodyfortheirvaluablecontributionstothedesignoftheRMMSsystem.附件二：可迅速布置的機(jī)械手系統(tǒng)作者：ChristiaanJ.J.Paredis,H.BenjaminBrown,PradeepK.Khosla摘要：一個(gè)迅速可部署的機(jī)械手系統(tǒng)，可以使再組合的標(biāo)準(zhǔn)化的硬件的靈活性用標(biāo)準(zhǔn)化的編程工具結(jié)合，允許用戶迅速建立為一項(xiàng)規(guī)定的任務(wù)來通常地控制機(jī)械手。這篇文章描述這樣的一個(gè)系統(tǒng)的兩個(gè)主要方面，即，再組合的標(biāo)準(zhǔn)化的機(jī)械手系統(tǒng)(RMMS)硬件和相應(yīng)控制軟件。1介紹機(jī)器人操縱裝置可能容易被程序重調(diào)執(zhí)行不同的任務(wù)，然而一個(gè)機(jī)械手可以執(zhí)行的任務(wù)的范圍已經(jīng)被它的機(jī)械結(jié)構(gòu)限制。例如，一個(gè)很適合準(zhǔn)確的運(yùn)動(dòng)的機(jī)械手在一張桌子上部或許將不能朝著垂直的方向舉起重物。因此，執(zhí)行規(guī)定的任務(wù)，需要有一個(gè)合適的機(jī)械結(jié)構(gòu)來選擇機(jī)械手。我們提議一個(gè)迅速可部署的機(jī)械手系統(tǒng)的概念來處理固定構(gòu)造的機(jī)械手的上述的缺點(diǎn)。一迅速可部署機(jī)械手系統(tǒng)由迅速建造的軟件和硬件組成，是適合一規(guī)定任務(wù)的一個(gè)機(jī)械手。一個(gè)迅速可部署的系統(tǒng)的中心的組成部分是一個(gè)再組合的標(biāo)準(zhǔn)化的機(jī)械手系統(tǒng)(RMMS)。RMMS利用一可交換的連接的和各種尺寸和性能的共同模件。通過結(jié)合這些多功能的模件，大范圍專用機(jī)械手可以被收集。最近，有相當(dāng)多的對(duì)機(jī)械手標(biāo)準(zhǔn)化的想法的興趣。但是，對(duì)于研究應(yīng)用以及為工業(yè)應(yīng)用來說，大多數(shù)這些系統(tǒng)缺乏的必要的能力，這是迅速可部署的體制的概念的關(guān)鍵。有效的使用RMMS需要基于任務(wù)的設(shè)計(jì)軟件。這軟件認(rèn)為是任務(wù)和可得到的操縱者模件的輸入描述；作為一標(biāo)準(zhǔn)化會(huì)議構(gòu)造最佳適合執(zhí)行規(guī)定任務(wù)的業(yè)務(wù)的產(chǎn)量產(chǎn)生。幾種不同的方法已經(jīng)被成功使用解決這個(gè)錯(cuò)綜復(fù)雜的問題的。一個(gè)迅速可部署的機(jī)械手系統(tǒng)的第3個(gè)重要的組成部分是控制軟件的代的一種框架。為實(shí)時(shí)基于傳感器的控制系統(tǒng)降低軟件生成的復(fù)雜性，一個(gè)軟件范例叫軟件為會(huì)議已經(jīng)在CMU先進(jìn)的操縱者實(shí)驗(yàn)室里被提出。這個(gè)范例結(jié)合可重復(fù)使用和再組合的軟件成分的概念，象妄想實(shí)時(shí)操作系統(tǒng)支持的那樣,用一個(gè)圖形用戶界面和可視程序設(shè)計(jì)語言而實(shí)施。雖然軟件會(huì)議范例提供迅速編程操縱者系統(tǒng)的軟件基礎(chǔ)設(shè)施，但是它不解決編程問題?；趥鞲衅鞯臋C(jī)械手系統(tǒng)的明確編程由于必須被為機(jī)器人指定執(zhí)行任務(wù)的廣大數(shù)量的細(xì)節(jié)是麻煩的。基于傳感器的機(jī)器人的軟件綜合問題可以被簡(jiǎn)化，通過提供堅(jiān)固的機(jī)器人技能，即，為在機(jī)器人任務(wù)域完成普通任務(wù)封裝策略.這樣機(jī)器人技能能在而不需要考慮任何低級(jí)的細(xì)節(jié)的任務(wù)步計(jì)劃階段使用。作為使用一個(gè)迅速可部署的系統(tǒng)的例子，在一種核環(huán)境里，在那里它必須檢查材料和放射性污染的空間，或者集合和修理設(shè)備考慮一個(gè)操縱者。在這樣的一種環(huán)境里，廣泛改變的動(dòng)態(tài)的(例如，工作區(qū))和動(dòng)態(tài)的(例如，速度，凈載重量)性能被要求，并且這些要求可能不被知道priori。不得不準(zhǔn)備大套要完成這幾次任務(wù)的不同操縱者一昂貴解決辦法一使用迅速可部署操縱者系統(tǒng)能。考慮下列腳本：一項(xiàng)具體的任務(wù)一被鑒定，基于任務(wù)的設(shè)計(jì)軟件就使最佳的標(biāo)準(zhǔn)化的會(huì)議構(gòu)造下決心進(jìn)行任務(wù)。人們?nèi)缓髲腞MMS模件裝配這個(gè)最佳的構(gòu)造或者，將來，也許到另一個(gè)操縱者。導(dǎo)致的操縱者被迅速通過使用軟件裝配范例和我們的機(jī)器人技能的信息庫編程序。最后，操縱者被有效地使用執(zhí)行它的任務(wù)。雖然這樣的腳本仍然是未來的，再組合的標(biāo)準(zhǔn)化的操縱者系統(tǒng)的發(fā)展，在這篇文章里描述，是向我們的一個(gè)迅速可部署的機(jī)械手系統(tǒng)的目標(biāo)的一個(gè)向前的主要的臺(tái)階。我們的方法能為自治機(jī)械手的下一代形成基礎(chǔ)，其中基于傳感器的自治權(quán)的傳統(tǒng)的觀念被給予基于構(gòu)造的自治權(quán)。的確，雖然一個(gè)部署的系統(tǒng)能有它需要的全部感覺并且計(jì)劃的信息，它可能仍然不能完成它的任務(wù)，因?yàn)槿蝿?wù)是在系統(tǒng)的物理能力以外。一個(gè)迅速可部署的系統(tǒng)，另一方面，能改編它的基于任務(wù)說明的物理能力和帶有先進(jìn)的感覺，控制，以及計(jì)劃策略，自動(dòng)完成任務(wù)。2硬件模塊的兩種設(shè)計(jì)在通常工業(yè)機(jī)械手里，那些控制器單獨(dú)接在那些傳感器接口，功率放大器，并且因機(jī)械手全部關(guān)節(jié)那些機(jī)械手而控制處理器。許多電線連接這個(gè)控制單位和傳感器，位于機(jī)械手的每個(gè)關(guān)節(jié)的作動(dòng)器和剎車是必要的。大量電氣裝線和這樣的一次系統(tǒng)平面布置的非可擴(kuò)展性，為標(biāo)準(zhǔn)化的機(jī)械手使它不能實(shí)行。我們提出的這個(gè)解決辦法是將控制硬件分配給操縱者的每個(gè)個(gè)別的模件。包括傳感器的這些模件然后成為組裝組件：制動(dòng)器，一個(gè)剎車，一次輸送，一個(gè)傳感器接口，一個(gè)電動(dòng)機(jī)放大器和一個(gè)通信接口。2.1機(jī)械設(shè)計(jì)RMMS工程的目標(biāo)是有可提供的多種硬件模塊。迄今，我們已經(jīng)建造4種模件：操縱者基礎(chǔ)，一連接模塊，樞共同模件(一在身材顯示)，并且一旋轉(zhuǎn)共同模件。底部模件和連接模塊沒有自由度；共同模件各自有一自由度。共同模件的機(jī)械設(shè)計(jì)緊密適合一臺(tái)直流電動(dòng)機(jī)，一個(gè)有自動(dòng)防故障設(shè)備的剎車，一臺(tái)轉(zhuǎn)速表，諧波運(yùn)動(dòng)。那些樞和旋轉(zhuǎn)共同模件在外部使用提供那些直角不同或者成隊(duì)構(gòu)造分別，但是相同內(nèi)部，在典型地方顯示一共同的樞的內(nèi)部結(jié)構(gòu)。每個(gè)共同模件包括一臺(tái)直流力矩電動(dòng)機(jī)和100：1的諧波駕駛速度減壓器，并且被在1.5rad/s和270納米的最高轉(zhuǎn)矩的最高速度下。不是每個(gè)模件都有塊大約10.7公斤一單個(gè)，小型，耐壓的X類型提供需要的剛性連結(jié)并且相連在一起。一根空的電動(dòng)機(jī)軸通過全部旋轉(zhuǎn)的零部件，并且為最小的屈曲電信號(hào)的傳送提供一條通道。2.2電子設(shè)計(jì)通俗設(shè)計(jì)的艙中的電子也被根據(jù)的原則設(shè)計(jì)。每個(gè)RMMS模件包含主板，提供基本的功能性和可以被堆積增加模件具體的功能性。主板由西門子80C166組成，64KROM，RAM，一SMCCOM20020的64K有一臺(tái)RS-485驅(qū)動(dòng)器和一臺(tái)RS-232驅(qū)動(dòng)器的普遍的局部地區(qū)網(wǎng)絡(luò)控制器。主板的功能是通過一種RS-485公共系統(tǒng)建立與主接口的聯(lián)系和進(jìn)行程序控制模件，象在第4部分被更詳細(xì)解釋的那樣。RS-232連續(xù)的公共汽車司機(jī)考慮到單純的診斷和軟件原型法。一個(gè)堆積的連接器有各種各樣的功能允許模糊的數(shù)量的增加，例如傳感器接口，電動(dòng)機(jī)控制器，RAM擴(kuò)大器等等，在我們的當(dāng)今的實(shí)施里，只是有作動(dòng)器的模件包括daughtercard。這張卡片到數(shù)字化的變換器包含一16位resolver，要與轉(zhuǎn)速表和一臺(tái)12位D/A變換器接口控制電動(dòng)機(jī)放大器的一臺(tái)12位模數(shù)轉(zhuǎn)換器；我們已經(jīng)使用一個(gè)ofthe架子電動(dòng)機(jī)放大器(Galil運(yùn)動(dòng)控制模型SSA8/80)驅(qū)動(dòng)直流電動(dòng)機(jī)。對(duì)有超過一自由度，例如一個(gè)腕模件的模件來說，不止一這樣的daughtercard可以被堆積到相同的主板上。3綜合連合的連接器為了使一個(gè)標(biāo)準(zhǔn)化的機(jī)械手再組合，模件可能容易被彼此連結(jié)是必要的。我們已經(jīng)-12-handtight被取得；沒有工具被要求。調(diào)整凸緣提供兩個(gè)模件的準(zhǔn)確的連接。鎖住的手腕的轉(zhuǎn)動(dòng)在末端上產(chǎn)生兩種不同的動(dòng)作：首先，鎖住的手指大約22.5程度和捕獲輪流(與手腕一起)手指在凸緣上運(yùn)動(dòng)；其次，那些手腕相對(duì)于鎖住的手指，而凸輪機(jī)制強(qiáng)迫那些內(nèi)在的手指在可靠緊握輪子的凸緣運(yùn)動(dòng)。在領(lǐng)和鎖住的手指之間的轉(zhuǎn)動(dòng)機(jī)構(gòu)