PAPRAS：即插即用机械臂系统
PAPRAS: Plug-And-Play Robotic Arm System
AI总结：
本文提出 PAPRAS 即插即用机械臂系统，通过轻量化高负载硬件、可便捷对接的结构和低时延多智能体分布式控制软件，支持多种家庭与移动操作任务。
摘要：
本文提出了一种名为 PAPRAS（Plug-And-Play Robotic Arm System，即插即用机械臂系统）的新型机械臂系统。PAPRAS 由便携式机械臂、对接安装座以及包含控制系统的软件架构组成。通过分析家庭中的目标任务空间，确定了 PAPRAS 的尺寸和构型。PAPRAS 的机械臂重量轻（小于 6 kg），采用经过优化的 3D 打印结构；作为一种人臂尺寸的操作器，它具有 3 kg 的高负载能力。结构中嵌入了锁定机构以提升便携性，并且 3D 打印的对接安装座可以轻松安装。PAPRAS 的软件架构基于开源框架开发，并针对基于多智能体的低时延分布式操作器控制进行了优化。文中还给出了创建新演示的流程，以展示 PAPRAS 的易用性和效率。论文通过多种演示中的仿真和硬件实验验证了硬件与软件设计，包括从水槽到洗碗机的操作、制作咖啡、四足机器人上的移动操作以及穿戴演示。
英文摘要：
This paper presents a novel robotic arm system, named PAPRAS (Plug-And-Play Robotic Arm System). PAPRAS consists of a portable robotic arm(s), docking mount(s), and software architecture including a control system. By analyzing the target task spaces at home, the dimensions and configuration of PAPRAS are determined. PAPRAS's arm is light (less than 6kg) with an optimized 3D-printed structure, and it has a high payload (3kg) as a human-arm-sized manipulator. A locking mechanism is embedded in the structure for better portability and the 3D-printed docking mount can be installed easily. PAPRAS's software architecture is developed on an open-source framework and optimized for low-latency multiagent-based distributed manipulator control. A process to create new demonstrations is presented to show PAPRAS's ease of use and efficiency. In the paper, simulations and hardware experiments are presented in various demonstrations, including sink-to-dishwasher manipulation, coffee making, mobile manipulation on a quadruped, and suit-up demo to validate the hardware and software design.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
