Determining task optimal modular robot assembly configurations

A "modular" robotic system consists of standardized joint and link units that can be assembled into a number of different kinematic configurations. Given a predetermined set of modules, this paper considers the problem of finding an "optimal" module assembly configuration for a specific task. The authors formulate the solution as a discrete optimization procedure. The formulation is based on an assembly incidence matrix representation of a modular robot and a general task-oriented objective function that can incorporate many realistic task criteria. Genetic algorithms (GA) are employed to solve this optimization problem, and a canonical method to represent a modular assembly in terms of genetic strings is introduced. An example involving a 3-DOF manipulator configuration is presented to demonstrate the feasibility of this approach.

[1]  Ferdinand Freudenstein,et al.  Some Applications of Graph Theory to the Structural Analysis of Mechanisms , 1967 .

[2]  Narsingh Deo,et al.  Graph Theory with Applications to Engineering and Computer Science , 1975, Networks.

[3]  N.R. Malik,et al.  Graph theory with applications to engineering and computer science , 1975, Proceedings of the IEEE.

[4]  Fritz B. Prinz,et al.  An Algorithm for Seam Tracking Applications , 1985 .

[5]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[6]  Charles A. Klein,et al.  Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators , 1987 .

[7]  David E. Goldberg,et al.  Genetic Algorithms in Search Optimization and Machine Learning , 1988 .

[8]  Toshio Fukuda,et al.  Dynamically reconfigurable robotic system , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[9]  Takeo Kanade,et al.  The CMU reconfigurable modular manipulator system , 1988 .

[10]  D. E. Goldberg,et al.  Genetic Algorithms in Search , 1989 .

[11]  Charles A. Klein,et al.  Spatial Robotic Isotropy , 1991, Int. J. Robotics Res..

[12]  Fumihito Arai,et al.  Structure Configuration Using Genetic Algorithm For Cellular Robotic System , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  R. Cohen,et al.  Conceptual Design of a Modular Robot , 1992 .

[14]  Pradeep K. Khosla,et al.  Design of space shuttle tile servicing robot: an application of task based kinematic design , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[15]  Christiaan J. J. Paredis,et al.  Kinematic Design of Serial Link Manipulators From Task Specifications , 1993, Int. J. Robotics Res..

[16]  I. Chen.  Theory and applications of modular reconfigurable robotic systems , 1994 .