微操作机器人中基于原语的智能控制方法

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．

INTELLIGENT CONTROL METHOD ON PRIMITIVE IN MICRO-OPERATION ROBOT

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.