构建磁悬浮机器人仿真平台，支持智能算法开发与智能制造革新。
MagBotSim: Physics-Based Simulation and Reinforcement Learning Environments for Magnetic Robotics
- 将磁悬浮系统建模为可独立控制的机器人集群进行仿真。
- 支持多机器人动态运输与协同操作，提升制造效率与灵活性。
- 适合研究磁悬浮控制、强化学习与智能制造的开发者使用。
磁悬浮技术即将在工业自动化中实现物料流的革命性变革。此类系统具备灵活配置能力，可包含大量独立驱动的搬运单元（移载器），并能动态调整生产负荷。除了动态运输功能外，这些系统还具备尚未被充分利用的操控潜力。通过将运输与操控整合为协同工作的磁机器人（MagBots）集群，我们使制造系统实现更高的效率、适应性和紧凑性。为支持磁悬浮系统智能算法的发展，本文提出MagBotSim（磁机器人仿真）：一个基于物理的磁悬浮系统仿真平台。通过将磁悬浮系统视为机器人集群，并提供专用仿真环境，本工作为下一代由磁机器人驱动的制造系统奠定了基础。MagBotSim的文档、视频、实验和代码已公开于：https://ubi-coro.github.io/MagBotSim/
原文摘要 · Abstract (English)
Magnetic levitation is about to revolutionize in-machine material flow in industrial automation. Such systems are flexibly configurable and can include a large number of independently actuated shuttles (movers) that dynamically rebalance production capacity. Beyond their capabilities for dynamic transportation, these systems possess the inherent yet unexploited potential to perform manipulation. By merging the fields of transportation and manipulation into a coordinated swarm of magnetic robots (MagBots), we enable manufacturing systems to achieve significantly higher efficiency, adaptability, and compactness. To support the development of intelligent algorithms for magnetic levitation systems, we introduce MagBotSim (Magnetic Robotics Simulation): a physics-based simulation for magnetic levitation systems. By framing magnetic levitation systems as robot swarms and providing a dedicated simulation, this work lays the foundation for next generation manufacturing systems powered by Magnetic Robotics. MagBotSim's documentation, videos, experiments, and code are available at: https://ubi-coro.github.io/MagBotSim/
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