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双冗余度机器人的避碰运动规划方法研究 总被引:1,自引:0,他引:1
对双冗余度机器人的避碰运动规划进行了研究分析,发展和改进了一种基于距离函数的冗余度机器人避碰方法,提高了该方法的通用性和可靠性. 相似文献
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Many applications above the capability of a single robot need the cooperation of multipl emobile robots, but effective cooperation is hard to achieve. In this paper, a master-slave method is proposed to control the motions of multiple mobile robots that cooperatively transport a common object from a start point to a goal point. A noholonomic kinematic model to constrain the motions of multiple mobile robots is built in order to achieve cooperative motions of them, and a “Dynamic Coordinator“ strategy is used to deal with the collision-avoidance of the master robot and slave robot individually. Simulation results show the robustness and effectiveness of the method. 相似文献
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空间遥操作机器人系统控制参考模型 总被引:3,自引:0,他引:3
从分析智能系统中智能行为机制人手,研究了智能系统中自组织单元基本结构,基于智能工程中的集成单元结构,提出了遥操作机器人系统的递阶嵌套控制参考模型,并应用到遥操作空间机器人模拟实验中,完成了模拟舱内作业任务,验证了其实用性。 相似文献
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