机器人任务描述与自动分解算法研究

Study on Robot Task Model and its Decomposing Method

给出机器人任务的五元组描述模型 ,针对装配次序规划中产生的以AND/OR图表示的零部件装配次序 ,提出任务分解的算法 ,将复杂的装配操作分解成机器人的操作单元。由于操作单元可移植 ,可组合 ,是机器人执行复杂任务编程时的理想输入。因而该算法将使机器人在装配操作中的编程工作大大得到简化 。

This paper presents a 5 tuple RT to describe robot task, and gives an algorithm to determine the elements of 5 tuple RT based on the AND/OR graph of assembly sequences. The complex sequence of assembly operations were decomposed into skill primitives. Skill primitives are reuseable, and can be used as an ideal input for complex robot tasks. The algorithm will highly simplify robot task programming.