基于多Agent可重构机器人控制方法的研究

根据多 Agent理论中的协商、合作机制和可重构机器人结构的分布性 ,将集中式的机器人控制分配到一组关节 Agent中 ,每个 Agent控制机器人的一个关节 ,使用这种分布式方法 ,得到了一种新的通用机器人控制方法 ,即将关节机器人的复杂控制转换为多个简单子系统的控制 ,该方法可应用于具有不同构型的机器人系统 ,特别适用于可重构模块化机器人的控制。利用微分运动理论提出了一种新的决策方法 ,便于 Agent之间的合作与协商。仿真实验结果表明该方法是一种可行的机器人控制方法

According to negotiation and cooperation mechanisms in multi-agent system theory and characteristics of the structure distribution of reconfigurable manipulator, we distribute centralized control of manipulator to a set of joint agents. Each agent is used to control a joint of the manipulator. By applying this distributive method, a new general method of manipulator control is obtained,then, the complicated control of a manipulator is reduced to a much simpler control of each subsystem. This method can be applied to control manipulator with different configuration, especially reconfigurable modular manipulator. Based on differential kinematics theory a new decision-making method which is in favor of cooperation and negotiation among agents is put forward. The experimental results from the simulation of 6-dof manipulator appear that the approach is feasible for manipulator control.

中国科学院机器人学开放研究实验室资助项目(RL2 0 0 0 0 4 )