This paper presents an optimization approach for generating custom manipulator configurations using a proposed unconventional modular library. An end-to-end solution is presented in which the resulting optimal models of the modular compositions can be integrated directly with the Robot Operating System platform. The approach utilizes an unconventional modular library, which is adaptable to a wide range of parameters for customization including non-parallel and non-perpendicular joint axes, and the unified modeling technique for getting the custom modular configurations. The single objective function optimization problem is formulated based upon the discrete parameters of reconfiguration depending upon the available modular library such as, number of joint modules, skew-twist angle, intersecting-twist angle, connection ports of the module, module size, modular sub-assembly unit and curved links. Two case studies, including an application to the agricultural vertical farms, are presented to validate the results.

翻译：本文提出一种基于所构建的非常规模块库生成定制化机械臂构型的优化方法。所提出的端到端解决方案使模块组合的最优模型可直接集成至机器人操作系统平台。该方法采用可适应广泛定制参数的非常规模块库，涵盖非平行及非垂直关节轴线，并通过统一建模技术获取定制化模块构型。基于现有模块库的重构离散参数（包括关节模块数量、偏斜扭转角、交叉扭转角、模块连接端口、模块尺寸、模块子装配单元及曲线连杆），构建了单目标函数优化问题。通过两个案例研究（含农业垂直农场的应用实例）对结果进行了验证。