一种全方位移动机械手的体系结构设计与分析

Architecture Design and Analysis of an Omni-directional Mobile Manipulator

摘要: 首先介绍了我们设计和开发的一种全方位移动机械手系统的硬件体系结构，然后根据硬件平台、应用环境和任务，设计了全方位移动机械手系统的基于行为的混合式软件体系结构，并通过两个实例进一步分析说明所设计的体系结构的合理性和可行性，同时指出了下一步研究的方向．

Abstract: The hardware architecture of an omni-directional mobile manipulator designed and developed in our lab is presented. Then, according to the hardware platform, the application environment and required tasks, a behaviour-based hybrid software architecture for this system is given. In order to show the validity and feasibility of the designed architecture, two examples are introduced and analyzed. At last, future research directions are pointed out.