摘要
本文介绍一个对象级机器人装配任务描述语言ZRTDL.该语言用装配对象的操作序列描述机器人作业,并借助装配世界模型、空间位置推理和运动规划等技术产生具体的机器人运动命令.
This paper presents a robot language, ZRTDL, for assemble task description. ZRTDL describes the robot job with a seqence of symbolic operations on the assembly objects,and generates information of robot motion using the techniques such as the robot and its environment modelling, the spatial position reasoning and the motion planning.
基金
国家自然科学基金资助
关键词
机器人语言
柔性装配系统
robot language, knowledge representation, flexible assembly system
