温遇华, 卢桂章, 赵新. 微操作机器人中基于原语的智能控制方法[J]. 机器人, 2003, 25(4): 331-334.
引用本文: 温遇华, 卢桂章, 赵新. 微操作机器人中基于原语的智能控制方法[J]. 机器人, 2003, 25(4): 331-334.
WEN Yu-hua, LU Gui-zhang, ZHAO Xin. INTELLIGENT CONTROL METHOD ON PRIMITIVE IN MICRO-OPERATION ROBOT[J]. ROBOT, 2003, 25(4): 331-334.
Citation: WEN Yu-hua, LU Gui-zhang, ZHAO Xin. INTELLIGENT CONTROL METHOD ON PRIMITIVE IN MICRO-OPERATION ROBOT[J]. ROBOT, 2003, 25(4): 331-334.

微操作机器人中基于原语的智能控制方法

INTELLIGENT CONTROL METHOD ON PRIMITIVE IN MICRO-OPERATION ROBOT

  • 摘要: 本文提出了一种基于原语的微操作机器人智能控制方法.首先,给出了面向对象的软件体系结构;然后,在智能机器人分层递阶的层次结构基础上,提出了原语控制的概念,通过原语函数对系统模块的二次封装,把机器人任务简单抽象为任务原语序列,实现了基于原语的机器学习和示教再现.实验证明,基于原语的控制方法可以有效地提高微操作机器人的智能和自动化程度.

     

    Abstract: This paper puts forward a primitive-based intelligent control method to micro-operation robot. Firstly, the paper presents object-oriented architecture of micro-operation robot. Then based on the typical hierarchy of intelligent robot, the concept of primitive control is brought forward, modules are further encapsulated into primitive methods, and a robot task is simply abstracted into a sequence of task primitive. So the paper implements machine learning and flexible task planing on primitive of micro-operation robot. Experiments show that the control method can effectively improve the intelligence and automation of robot.

     

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