论文标题
帝汶Python：工业模块化机器人技术的工具箱
Timor Python: A Toolbox for Industrial Modular Robotics
论文作者
论文摘要
模块化可重构机器人（MRRS）代表了工业机器人技术的令人兴奋的前进道路，为机器人设计开辟了新的可能性。与整体操作器相比，它们承诺更大的灵活性，提高可维护性和成本效益。但是，几十年来，没有像为机器人操纵器对模块建模和模拟模块组件的工具或标准化方法。我们介绍了工业模块化机器人技术工具箱（Timor），这是一种python工具箱，可弥合此间隙并将模块化机器人技术集成到现有的仿真和优化管道中。我们的开源库为MRR提供了模型生成和基于任务的配置优化。它可以轻松地与现有的仿真工具集成在一起 - 尤其是通过提供任意模块化机器人组件的URDF导出。此外，我们的实验研究证明了Timor作为设计针对特定用例的模块化机器人的工具的有效性。
Modular Reconfigurable Robots (MRRs) represent an exciting path forward for industrial robotics, opening up new possibilities for robot design. Compared to monolithic manipulators, they promise greater flexibility, improved maintainability, and cost-efficiency. However, there is no tool or standardized way to model and simulate assemblies of modules in the same way it has been done for robotic manipulators for decades. We introduce the Toolbox for Industrial Modular Robotics (Timor), a Python toolbox to bridge this gap and integrate modular robotics into existing simulation and optimization pipelines. Our open-source library offers model generation and task-based configuration optimization for MRRs. It can easily be integrated with existing simulation tools - not least by offering URDF export of arbitrary modular robot assemblies. Moreover, our experimental study demonstrates the effectiveness of Timor as a tool for designing modular robots optimized for specific use cases.
