KUKA robot architecture

Robot architecture refers to the structural method of information processing and manipulation logic of one or several robots that specify the guidelines for completion.

1. Differentiation according to function

According to the architecture of functional differentiation, it is attributed to the traditional prudent intelligence in artificial intelligence, which is reflected in the structure as serial dispersion, and asynchronous fulfillment in the fulfillment method, that is, the information processing and manipulation are realized in accordance with the mode of "perception, planning, and action". It is typical of the NASR human MtI proposed by the United States China National Space Administration and the United States National Bureau of Standards]. The advantage of this architecture is that the function of the system is clear. The hierarchy is clear and the implementation is simple. However, Shenxing's approach greatly extended the response time of the system to external events, and changes in the environment led to the necessity of planning from scratch, thus reducing the efficiency of fulfillment. Therefore, it is only suitable for more complex work in a known structured environment.

KUKA robot architecture

2. Differentiation according to behavior

According to the architecture of behavior differentiation, it is attributed to modern reactive intelligence in artificial intelligence, which is embodied in parallel (accommodating) distribution in structure, and synchronous fulfillment in fulfillment method, that is, information processing and manipulation are carried out in parallel according to the mode of "perception and action". Typical examples are the Subsumption Architecture proposed by R.A. Brooks of the Massachusetts Institute of Technology and the architecture based on MotorSc hema proposed by Arkin. Its main advantages are short implementation time, high efficiency and strong mobility. However, due to the lack of overall management, it is difficult to adapt to various situations. Therefore, it is only suitable for performing relatively simple tasks in the Mutao environment.

3. Differentiation according to the dispersion of intelligence

According to the architecture of intelligence dispersion, it is attributed to the latest distributed intelligence in artificial intelligence, which is reflected in the structure as scattered and scattered, and in terms of fulfillment, it is attributed to collaborative fulfillment, which can not only complete the solution of some of their own problems independently, but also solve single or multiple global problems through collaboration. It is typical of the architecture according to the multi-agent. The advantage of this architecture is that it has both the characteristics of "intelligent dispersion" and a unified coordination mechanism. However, the rational division and coordination between various agents still requires a lot of research and practice. This architecture is widely used in many large-scale intelligent information processing systems.

In addition to the above three main types of architectures, there are also some improved hybrid architectures, such as behavioral differentiation patterns with reactive links, hierarchical architectures based on distributed intelligence, multi-agent architectures based on functional differentiation, and so on. However, on the whole, they either lack the flexibility and scalability of functional modules, or fail to coordinate the thinking intelligence and reactive intelligence well, or the communication mechanism between the various levels is not perfect.

KUKA robot architecture

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