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機(jī)器人系統(tǒng)已成為工業(yè)自動(dòng)化不可或缺的一部分。它迅速進(jìn)入未來(lái)主義、智能空間的概念（如智能家居、輔助康復(fù)和醫(yī)療保?。?。因此，它們一直是控制理論、力學(xué)、電子學(xué)和系統(tǒng)設(shè)計(jì)研究人員非常感興趣的話(huà)題。一般而言，機(jī)器人系統(tǒng)都具有冗余執(zhí)行器，這讓它們有更多的自由度來(lái)滿(mǎn)足額外設(shè)計(jì)需求。然而，求解非線(xiàn)性冗余系統(tǒng)的最優(yōu)解是一項(xiàng)計(jì)算量繁重的任務(wù)。本次演講描述了一種通過(guò)自然啟發(fā)的元啟發(fā)式新穎技術(shù)，以數(shù)值有效的方式解決非線(xiàn)性控制問(wèn)題。這種被稱(chēng)為BAS的元啟發(fā)式算法是受到天牛自然行為的啟發(fā)，通過(guò)對(duì)天牛的覓食行為進(jìn)行了數(shù)字建模。

本次演講將展示如何利用所提出的優(yōu)化框架來(lái)解決機(jī)械臂的控制問(wèn)題，如避免障礙、遠(yuǎn)程運(yùn)動(dòng)中心（RCM）的限制和移動(dòng)鉸接機(jī)器人的控制。它將呈現(xiàn)如何轉(zhuǎn)換為等效的優(yōu)化問(wèn)題，并應(yīng)用控制框架來(lái)解決這些問(wèn)題。數(shù)值結(jié)果將證明所提出的控制框架的有效性。

Robotic systems have become an integral part of industrial automation and rapidly finding their way into the concept of futuristic, intelligent spaces, i.e., smart homes, assistive rehabilitation, and healthcare. As such, they have been a topic of great interest for researchers from control theory, mechanics, electronics, and system design. Usually, robotic systems have redundant actuators, giving them an extra degree of freedom to meet the additional design requirement. However, solving a nonlinear redundant system for an optimal solution is a computationally expensive task. This talk describes novel nature-inspired metaheuristic techniques to solve the nonlinear control problem in a numerically efficient manner. The metaheuristic algorithm, called BAS, is inspired by the natural behavior of beetles and mathematically model their food foraging behavior.

This talk shows how the proposed optimization framework can be used to solve several control problems for robotic arms, i.e., obstacle avoidance, Remote Centre of Motion (RCM) constraints, and control of mobile articulated robots. It will be shown how the above-mentioned control problem can be converted to equivalent optimization problems, and the control framework can be applied to solve those problems. The numerical results will be shown to demonstrate the efficacy of the proposed control framework.