TORUS: Time Optimal Robot Systems
(Larochelle)
TORUS(Time-Optimal Robot systemS) is
a numerical optimal control package
coupled with a computer graphics interface.
At the heart of TORUS is a time-optimal control strategy
which interacts with a nonlinear optimization package to determine
the dynamic performance limits of robotic systems.
The result is that the designer is able
to evaluate with respect to practical dynamic criteria
the design of a robotic system.
Some of the dynamic performance criteria that are easily determined
for a prescribed task with TORUS include: determining the
maximum dynamic payload,
determining the minimum time required to complete the task,
determining the performance benefits of having two or more robots
cooperate to accomplish the task,
and evaluating the dynamic effects of different grasps on the
workpiece.
A snapshot from the dynamic simulation provided
by TORUS. Shown here are two cooperating
Odetics robot arms moving a workpiece(green).
The time to accomplish the task, the maximum payload,
and the current motor torques as a percentage of their maximum output
are shown in the lower left display window.
Return to top
Written by: PML 5/27/2004
