采掘机器人的规划级控制技术研究

RESEARCH ON THE TECHNIQUE OF PLANNING LEVEL CONTROL FOR EXCAVATING-ROBOT

本文以反铲作业为对象，研究了采掘机器人的任务规划、路径规划和轨迹规划．在自行设计研制的一台试验样机上实现了整个作业循环过程、预设路径和力监控挖掘过程的局部自主式规划级控制，并开发了一个三维动态仿真软件作为检验规划级控制理论的辅助手段．

The methods of task planning, path planning and trajectory planning are studied. The local autonomy mode control of planning level for whole task cycle process, excavating process based on predetermined path and force-monitor is realized on the experimental prototype. And the software of three dimensional dynamic simlation is developed for examining the theory of planning level control.