【摘要】 研制了一个基于对象模型的机器人智能任务规划与控制系统 ,对系统中的对象进行模型化 ,建立对象模型知识库 ,在设计任务规划时 ,模仿了人在日常生活中完成普通任务时进行任务规划的方法 ,在设计控制软件时 ,根据控制目标 ,设计了推理程序 ,因此 ,系统根据一用句子给出的请求 ,规划出一系列相关联的基本任务 ,从而控制机器人各关节协调动作 ,使之完成目标任务更多还原

【Abstract】 This paper describes the concepts and methodologies for an intelligent task scheduling and control system based on object model for robot arm . A human’s way of scheduling is considered. The intelligent task scheduling sets a task goal according to a user’s request in a natural sentence and generates a sequence of tasks and action to achieve the goal based on object model . In the control system, the reasoning programs are designed according to the control object purpose. Therefore the system can schedule the task and control coordinately actions of all joints of the robot arm to complete object job based on the scheduled tasks.更多还原