论文标题
在基于辐射的热致致密度：新模型，控制和实验
On Radiation-Based Thermal Servoing: New Models, Controls and Experiments
论文作者
论文摘要
在本文中，我们引入了一种新的基于传感器的控制方法，该方法（通过机器人运动）调节辐射源与感兴趣对象之间的热传递。在许多工业，皮肤病学和现场机器人应用中，需要这种有价值的感觉运动能力，它是用高级热摩托智能创建机器的重要组成部分。为此，我们得出了一个几何形状 - 电动模型，该模型描述了机器人的活动配置与产生的动态热响应之间的关系。然后，我们使用该模型来指导两个新的热宣传控制器（一个基于模型和一种自适应）的设计，并通过Lyapunov理论分析其稳定性。为了验证我们的方法，我们报告了一项详细的实验研究，该研究使用机器人操纵器进行自主热宣誓任务。据作者所知，这是第一次将温度调节作为机器人的运动控制问题。
In this paper, we introduce a new sensor-based control method that regulates (by means of robot motions) the heat transfer between a radiative source and an object of interest. This valuable sensorimotor capability is needed in many industrial, dermatology and field robot applications, and it is an essential component for creating machines with advanced thermo-motor intelligence. To this end, we derive a geometric-thermal-motor model which describes the relationship between the robot's active configuration and the produced dynamic thermal response. We then use the model to guide the design of two new thermal servoing controllers (one model-based and one adaptive), and analyze their stability with Lyapunov theory. To validate our method, we report a detailed experimental study with a robotic manipulator conducting autonomous thermal servoing tasks. To the best of the authors' knowledge, this is the first time that temperature regulation has been formulated as a motion control problem for robots.
