应用规划生成系统的柔顺性控制

COMPLIANCE WITH PLAN GENERATION

通常的柔顺性控制采取连续的力伺服控制。我们提出用开关力监控来进行柔顺性控制、它只反映机械手各关节受力是否达到允许阈值,因而检测手段大大简化;这样的柔顺性控制过程成了离散的动作序列,只要通过分析与示教,提出状态分析与运动规划规则,并运用规划生成系统和归纳学习方法来自动编制动作序列并转为程序,就能在同一类型操作中适应各种变化。这种机械手不是简单地再现人的示救动作,它能总结示教中的规律,以适应多变的操作过程因而其示教具有智能。

Compliance is usually performed by continuous force scrvo control.In this article we use the switch-ing force guarded motion for compliance.Only allowed threshold forces of each joint are to be detected,the detection measure turns out guite simple.Thus the proccss of compliance bccomes a sequence ofdiscontinuous motion.After assuming the rules of state analysis and motion planning,via analysis andteaching,we use plan generation system and inductive learning method to edit automatically the motionsequence and transfer it into program,and then the robot can be adapted for various proccss in a certainkind of operation.Thus,the robot can not only playback the motion taught,but also induct rules to beused during teaching in order to adapt to all changes in the environment so it is really an intelligent teach-ing.