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毕业设计（论文）外文文献翻译文献、资料中文题目：可迅速布置的机械手系统文献、资料英文题目：ARapidlyDeployableManipulatorSystem文献、资料来源：文献、资料发表（出版）日期：院（部）：专业：班级：姓名：学号：指导教师：翻译日期：2017.02.14毕业设计(论文)外文资料翻译附件一：ARapidlyDeployableManipulatorSystemChristiaanJ.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[2,4,5,7,9,10,14],forresearchapplicationsaswellasforindustrialapplications.However,mostofthesesystemslackthepropertyofreconfigurability,whichiskeytotheconceptofrapidlydeployablesystems.TheRMMSisparticularlyeasytoreconfigurethankstoitsintegratedquick-couplingconnectorsdescribedinSection3.EffectiveuseoftheRMMSrequires,TaskBasedDesignsoftware.Thissoftwaretakesasinputdescriptionsofthetaskandoftheavailablemanipulatormodules;itgeneratesasoutputamodularassemblyconfigurationoptimallysuitedtoperformthegiventask.Severaldifferentapproacheshavebeenusedsuccessfullytosolvesimpli-fiedinstancesofthiscomplicatedproblem.Athirdimportantbuildingblockofarapidlydeployablemanipulatorsystemisaframeworkforthegenerationofcontrolsoftware.Toreducethecomplexityofsoftwaregenerationforreal-timesensor-basedcontrolsystems,asoftwareparadigmcalledsoftwareassemblyhasbeenproposedintheAdvancedManipulatorsLaboratoryatCMU.Thisparadigmcombinestheconceptofreusableandreconfigurablesoftwarecomponents,asissupportedbytheChimerareal-timeoperatingsystem[15],withagraphicaluserinterfaceandavisualprogramminglanguage,implementedinOnikaAlthoughthesoftwareassemblyparadigmprovidesthesoftwareinfrastructureforrapidlyprogrammingmanipulatorsystems,itdoesnotsolvetheprogrammingproblemitself.Explicitprogrammingofsensor-basedmanipulatorsystemsiscumbersomeduetotheextensiveamountofdetailwhichmustbespecifiedfortherobottoperformthetask.Thesoftwaresynthesisproblemforsensor-basedrobotscanbesimplifieddramatically,byprovidingrobustroboticskills,thatis,encapsulatedstrategiesforaccomplishingcommontasksintherobotstaskdomain[11].Suchroboticskillscanthenbeusedatthetasklevelplanningstagewithouthavingtoconsideranyofthelow-leveldetailsAsanexampleoftheuseofarapidlydeployablesystem,consideramanipulatorinanuclearenvironmentwhereitmustinspectmaterialandspaceforradioactivecontamination,orassembleandrepairequipment.Insuchanenvironment,widelyvariedkinematic(e.g.,workspace)anddynamic(e.g.,speed,payload)performanceisrequired,andtheserequirementsmaynotbeknownapriori.Insteadofpreparingalargesetofdifferentmanipulatorstoaccomplishthesetasks—anexpensivesolution—onecanusearapidlydeployablemanipulatorsystem.Considerthefollowingscenario:assoonasaspecifictaskisidentified,thetaskbaseddesignsoftwaredeterminesthetask.ThisoptimalconfigurationisthenassembledfromtheRMMSmodulesbyahumanor,inthefuture,possiblybyanothermanipulator.Theresultingmanipulatorisrapidlyprogrammedbyusingthesoftwareassemblyparadigmandourlibraryofroboticskills.Finally,themanipulatorisdeployedtoperformitstask.Althoughsuchascenarioisstillfuturistic,thedevelopmentofthereconfigurablemodularmanipulatorsystem,describedinthispaper,isamajorstepforwardtowardsourgoalofarapidlydeployablemanipulatorsystem.Ourapproachcouldformthebasisforthenextgenerationofautonomousmanipulators,inwhichthetraditionalnotionofsensor-basedautonomyisextendedtoconfiguration-basedautonomy.Indeed,althoughadeployedsystemcanhaveallthesensoryandplanninginformationitneeds,itmaystillnotbeabletoaccomplishitstaskbecausethetaskisbeyondthesystem’sphysicalcapabilities.Arapidlydeployablesystem,ontheotherhand,couldadaptitsphysicalcapabilitiesbasedontaskspecificationsand,withadvancedsensing,control,andplanningstrategies,accomplishthetaskautonomously.2Designofself-containedhardwaremodulesInmostindustrialmanipulators,thecontrollerisaseparateunit