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1.
赖红  王寅峰  许志良  何岭松 《测控技术》2013,32(12):122-125
针对可重构的测试系统对虚拟仪器系统提出的在线升级和功能调整要求,提出了基于XML的虚拟仪器描述语言规范(XVIML,XML based virtual instrument markup language)的可装配重构的虚拟仪器系统。通过定义可重构虚拟仪器系统的描述规范和基于XVIML的芯片构件和连接关系描述,采用基于XVIML的动态解析器模型和基于构件的装配模型,实现了虚拟仪器系统的动态解析、构件的查找和装配;形成了一个测试功能可以根据测试任务快速重组的测试系统;解决了可重构测试系统对虚拟仪器提出的快速和在线重构要求。  相似文献   

2.
可重构机器人技术的探讨   总被引:3,自引:0,他引:3  
本文概述了可重构机器人研究和发展现状 ,对基于多 Agent的可重构机器人的控制方法的研究作了较详细的介绍 ,根据可重构机器人的应用背景 ,指出了可重构机器人研究的必要性  相似文献   

3.
模块化机器人拓扑重构规划研究   总被引:1,自引:0,他引:1  
模块化可重构机器人由若干个相同的机器人模块组合装配而成,能够重构成不同的几何形态和结构,从而适应不同的作业任务要求。本论文主要对树状拓扑结构的模块化机器人的重构规划问题进行了研究,定义了构型重构的基本概念,提出了分支重构规划算法。这类模块化可重构机器人可以用树状拓扑结构图来描述。机器人的拓扑结构从自由树转化为有根树,然后分解为若干个分支结构,并按一定顺序排列,通过对各个分支结构的逐步比较和操作,完成重构过程。最后选定模块数目,进行了重构规划过程的仿真计算。结果表明,文中所述算法对于树状拓扑结构的模块化机器人的重构规划问题是有效的。  相似文献   

4.
面向虚拟装配的VRML模型优化重构   总被引:1,自引:0,他引:1  
苏艳  廖文和  郭宇 《计算机工程与设计》2007,28(11):2509-2512,2722
对基于Web的虚拟装配中VRML模型优化重构进行了研究.提出了虚拟装配环境中的五层结构信息模型;在此基础上,分析VRML模型的语法结构和语法解析过程,建立了节点重构算法和优化处理算法;实现了VRML模型组织结构和信息描述的优化重构,很好地满足了虚拟装配快速设计与分析的需求.开发了基于Web的交互式虚拟装配原型系统,验证了模型优化重构算法的可行性.  相似文献   

5.
模块化可重构机器人由于其构型多变,运动形式丰富等特点,可以在非结构化环境或未知环境中执行任务,在最近几年迅速成为机器人研究领域的前沿和热点. 模块化可重构机器人在军事、医疗、教育等众多工程领域具有广泛的应用前景,其典型代表包括仿生多足模块化机器人、模块化可重构机械臂、晶格式模块化机器人等. 模块化可重构机器人丰富的构型设计、多样的连接特征、不断拓展的应用范围,给动力学建模与控制带来了很多挑战和机遇. 本文首先阐述了模块化可重构机器人的研究背景和意义,并概述了其构型分类与设计、构型描述与运动学建模方法.随后,本文系统回顾了模块化可重构机器人动力学研究中相关问题的最新进展,包括:(1)系统整体动力学建模;(2)结合面以及对接机构动力学建模;(3)基于动力学模型的控制方法. 本文最后提出了模块化可重构机器人动力学研究中若干值得关注的问题.  相似文献   

6.
文中针对自重构机器人的重构问题提出了一种基于网络的分析方法.自重构模块机器人"AMOEBA-I"的9种不同构形组成了一个构形网络.机器人的每种构形被看成带有权值的有向构形网络中的一个节点.一种构形向另一种构形的转换可描述为一条非负值的有向路径.将图论应用于构形变化的分析,根据构形的拓扑信息相应定义了重构路径、可重构矩阵和路径矩阵.在此基础上,将图论中的算法应用于重构路径的计数和最佳重构路径的选择.数值分析与仿真实验结果验证了该方法的可行性.同时,该方法还可以用于其他自重构机器人的构形控制与自重构规划.  相似文献   

7.
宋涛 《机器人》1996,18(5):302-310,315
本文从机器人关节力矩和末端夹力的受限情况出发,提出了一个操作能力的概念,研究了单机器人和多机器人系统的操作能力,以此为依据,进一步讨论了作者提出的树型可重构机器人,这种机器人可以通过变化自身结构来改变其操作能力,以适应任务的变化,通过一个仿真实例说明了这种树型可重构机器人的有效性。  相似文献   

8.
介绍国外自重构模块机器人的研究现状。分析多种典型自重构模块机器人系统的模块构成、连接机制和自重构规划方法。指出自重构模块机器人研究的关健技术和需解决的现实问题。  相似文献   

9.
肖玮  陈性元  杜学绘  李海玉  陈宇涵 《软件学报》2018,29(12):3635-3647
以安全重构元为基础,能够提供高灵活性、适应性和可扩展性安全服务的可重构安全计算系统已成为当前安全研究领域的热点问题.目前,关于重构机理的研究主要采取基于功能候选集的静态重构配置生成方法,可重构安全系统作为一种主动安全防御手段,应具有动态自动重构的能力,避免人工介入导致的脆弱性.针对动态自动可重构安全系统的建模以及配置生成过程的描述问题,提出了一种基于直觉主义逻辑扩展的动态自动可重构安全系统逻辑模型SSPE,给出了逻辑模型SSPE上的语法和推理规则,设计了基于SSPE的等级化安全重构元和安全需求建模和表达方法,并给出了基于映射关系的安全重构元描述向逻辑语言的转换规则.最后,以IPSec协议为例,阐述了可重构安全系统重构配置的动态自动推理生成过程.基于直觉主义逻辑的可重构安全系统建模和配置生成方法,为研究可重构安全系统的重构机理提供了新的思路和方法,具有重要的意义.  相似文献   

10.
可重构模块化机器人现状和发展   总被引:22,自引:1,他引:21  
刘明尧  谈大龙  李斌 《机器人》2001,23(3):275-279
由于市场全球化的竞争,机器人的应用范围要求越来越广,而每种机器人的构形仅能 适应一定的有限范围,因此机器人的柔性不能满足市场变化的要求,解决这一问题的方法就 是开发可重构机器人系统.本文介绍了可重构机器人的发展状况,分析了可重构机器人的研 究内容和发展方向.  相似文献   

11.
Single module of the reconfigurable robots with independent manipulation can perform the actions of locomotion and manipulation. In conformity with the request for achieving autonomous operation in the unstructurized environment instead of fixed operation in the structurized environment, these robots are applied in the complicated and dangerous environment. The existing researches on the configuration theory focus on the reconfigurable robots with limited locomotion and the ones with independent locomotion, not being applicable to the reconfigurable robots with independent manipulation. The vector configuration is put forward, the research content of which contains the topology and locomotion direction of configuration, the posture and orientation and connection relation between modules. Module state vector and configuration state matrix are proposed for representation methodology for the swarm configuration of these reconfigurable robots, which supports transformation operation to represent and trigger behavior motion of the module and reconfiguration between configurations. Optimization algorithm of assembly reconfiguration applying workload as the optimization target is presented, as well as optimization algorithm of transformation reconfiguration applying the integration of posture orientation workload and connection workload. The result of optimization is the relation of state transformation between the initial configuration and the object one as the basic of reconfiguration plan and control. Supported by the National High-Tech Research and Development Program of China (Grant No. 2006AA04Z254) and the Scientific Research Fund for Doctor of Liaoning Provice (Grant No. 20071007)  相似文献   

12.
Dual-arm reconfigurable robot is a new type of robot. It can adapt to different tasks by changing its different end-effector modules which have standard connectors. Especially, in fast and flexible assembly, it is very important to research the collision-free planning of dual-arm reconfigurable robots. It is to find a continuous, collision-free path in an environment containing obstacles. A new approach to the real-time collision-free motion planning of dual-arm reconfigurable robots is used in the paper. This method is based on configuration space (C-Space). The method of configuration space and the concepts reachable manifold and contact manifold are successfully applied to the collision-free motion planning of dual-arm robot. The complexity of dual-arm robots’ collision-free planning will reduce to a search in a dispersed C-Space. With this algorithm, a real-time optimum path is found. And when the start point and the end point of the dual-arm robot are specified, the algorithm will successfully get the collision-free path real time. A verification of this algorithm is made in the dual-arm horizontal articulated robot SCARATES, and the simulation and experiment ascertain that the algorithm is feasible and effective.  相似文献   

13.
The dawn of next generation robots and systems era which is quietly emerging, requires miniaturized and integrated sensors, actuators, and entire microrobots. One of the defining characteristics of these microsystems is their multiscale nature, e.g., the span of their size, features, and tolerances across multiple dimensional scales, from the meso to the micro and nanoscales. Another defining characteristic is the need to reliably integrate heterogeneous materials via assembly and packaging, in a cost-effective manner, even in low quantities. Thus, it is argued in this paper that cost-effective manufacturing of complex microsystems requires special precision robotic assembly cells with modular and reconfigurable characteristics. This paper presents recent research aimed at developing theoretical underpinnings for how to construct such a manufacturing platform. M3 is a multirobot system spanning across the macro-meso-microscales and specifically configured to package. The M3 robots are systematically characterized in terms of quasi-static precision measures and assembly plans are generated using kinematic identification, inverse kinematics and visual servoing. The advantage of our approach the fact that high assembly yields for our system are a consequence of a set of so-called precision resolution-repeatability-accuracy (RRA) rules introduced in this paper. Experimental results for packaging of a microelectromechanical systems switch are provided to support our findings.  相似文献   

14.
This paper discusses the research activities on robotics at the Institut für Informatik III of the Universität Karlsruhe, Karlsruhe, Federal Republic of Germany. The projects are directed towards the design of user-oriented programming systems and intelligent sensors and controls for industrial robots. The work includes: Development of a high order programming language for assembly robots, simulation of assembly systems, design of a polyprocessor controller for robots, conception of design rules for the integration of robots into CIM systems, development of vision devices and design of multisensor systems for manipulators.  相似文献   

15.
自重构机器人的自组织变形   总被引:3,自引:0,他引:3  
本文深入研究了自重构机器人实现自组织变形的基本方法.首先根据自重构机器人 系统结构的基本特征提出一种描述模型,可以对各类模块化自重构机器人的拓扑结构进行统 一描述.然后提出一种建立在全离散的局部智能基础上的自重构机器人的自组织变形策略, 通过建立适当的模块运动规则和规则进化使机器人由局部自主运动产生全局系统自组织的结 果.  相似文献   

16.
根据多机器人通信网络的特点,提出了一种多机器人通信仿真系统, 并通过一个网络可重构的通信方式给出了该系统的实现。机器人的移动性使之组建的通信网络可靠性很差,可重构的机器人通信方式可显著提高网络的通信质量。当前的多机器人仿真系统有很多,而具有通信仿真功能的较少。该仿真系统采用节点随机停留运动模型和模块化设计,可用于仿真多机器人通信网络。系统还提供了与其他机器人控制算法的接口,可进行其他仿真工作。  相似文献   

17.
This article describes the development of a component-based technology robot workcell that can be rapidly configured to perform a specific manufacturing task. The workcell is conceived with standard and inter-operable components including actuator modules, rigid link connectors and tools that can be assembled into robots with arbitrary geometry and degrees of freedom. The reconfigurable “plug-and-play” robot kinematic and dynamic modeling algorithms are developed. These algorithms are the basis for the control and simulation of reconfigurable robots. The concept of robot configuration optimization is introduced for the effective use of the rapidly reconfigurable robots. Control and communications of the workcell components are facilitated by a workcell-wide TCP/IP network and device-level CAN-bus networks. An object-oriented simulation and visualization software for the reconfigurable robot is developed based on Windows NT. Prototypes of the robot workcells configured to perform the light-machining task and the positioning task are constructed and demonstrated.  相似文献   

18.
Kinematic Design of Modular Reconfigurable In-Parallel Robots   总被引:1,自引:0,他引:1  
This paper describes the kinematic design issues of a modular reconfigurable parallel robot. Two types of robot modules, the fixed-dimension joint modules and the variable dimension link modules that can be custom-designed rapidly, are used to facilitate the complex design effort. Module selection and robot configuration enumeration are discussed. The kinematic analysis of modular parallel robots is based on a local frame representation of the Product-Of-Exponentials (POE) formula. Forward displacement analysis algorithms and a workspace visualization scheme are presented for a class of three-legged modular parallel robots. Two three-legged reconfigurable parallel robot configurations are actually built according to the proposed design procedure.  相似文献   

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