| 基于分层控制的移动机器人最优运动规划 |
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| 引用本文： | 程平,尹朝万.基于分层控制的移动机器人最优运动规划[J].机器人,1997,19(4):294-299. |
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| 作者姓名： | 程平 尹朝万 |
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| 作者单位： | 沈阳工业大学电气工程系，中国科学院沈阳自动化研究所 |
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| 基金项目： | 中科院机器人学开放研究实验室与清华大学智能技术与系统国家重点实验室资助 |
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| 摘 要： | 研究移动机器人在带有多移动障碍物的动态环境中的运动规划问题，基于分层最控制理论，提出了一种新的运动规划方法来解决移动机器人的导航与避障问题，仿真实例证明了该方法的有效性。
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| 关 键 词： | 移动机器人 运动规划 分层最优控制 |
RESEARCH ON ASSEMBLY STRATEGIES AND EXPERIMENT FOR ARBITRARY CONVEX PEG HOLE PARTS AND MULTIPLE PEG HOLE PARTS |
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| YOU Bo.RESEARCH ON ASSEMBLY STRATEGIES AND EXPERIMENT FOR ARBITRARY CONVEX PEG HOLE PARTS AND MULTIPLE PEG HOLE PARTS[J].Robot,1997,19(4):294-299. |
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| Authors: | YOU Bo |
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| Abstract: | Based on the review of the parts mating theory, this paper presents an assembly strategy for arbitrary convex peg hole parts and multiple peg hole parts and an assembly system which consists of a newly developed robotics and manipulator with the force function and PUMA562 robot. Different from common design, this micro manipulator combines both active accommodation and passive compliance in one. The system can carry out arbitrary convex peg hole parts assembly operations along any direction. Typical experiment results are presented at the end of the paper. |
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| Keywords: | Assembly strategy active accommodation passive compliance |
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