同时优化模块组合、基座位置和轨迹，让机器人更快完成任务
Holistic Optimization of Modular Robots
- 联合优化模块组成、基座位置与运动轨迹
- 任务周期时间最多减少25%，成功解出案例翻倍
- 首次真实部署验证，九成案例一小时内完成
模块化机器人有望革新自动化，只需针对特定任务优化其结构。然而，寻找最优组合极具挑战性，且不同结构需匹配不同的基座位置和运动轨迹以发挥最大效能。本文首次提出整体优化方法，联合优化模块组合、基座放置与轨迹规划，以最小化任务循环时间。在超过300个工业点对点移动基准测试中评估，相比仅优化模块组合，循环时间最多减少25%，且在两倍数量的基准中找到可行解。首次对点对点运动优化的模块化机器人进行真实世界验证，9/10案例在1小时内成功部署。
原文摘要 · Abstract (English)
Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base positions and trajectories to fully use the potential of modular robots. We address this problem holistically for the first time by jointly optimizing the composition, base placement, and trajectory to minimize the cycle time of a given task. Our approach is evaluated on over 300 industrial benchmarks requiring point-to-point movements. Overall, we reduce cycle time by up to 25 % and find feasible solutions in twice as many benchmarks compared to optimizing the module composition alone. In the first real-world validation of modular robots optimized for point-to-point movement, we find that the optimized robot is successfully deployed in nine out of ten cases in less than an hour.
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