Flexible Task Oriented Robot Controls Using the System Entity Structure and Model Base Approach
Flexible Task Oriented Robot Controls Using the System Entity Structure and Model Base Approach
复制标题
使用系统实体结构和模型库方法的灵活的面向任务的机器人控制
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
S. Pawletta
中科院分区：
文献类型：
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作者：
Tobias Schwatinski;T. Pawletta;S. Pawletta
介绍了一种使用系统实体结构（SES）开发面向灵活任务的机器人控制（FTC）的新方法。面向任务的机器人控制基于原子任务的组合，旨在实现先前指定的目标。灵活的面向任务的控制的不同之处在于，原子任务的组合不是固定预定义的，而是在控制操作期间基于实际过程状态并相对于任务序列中的约束来组合。系统实体结构是一个本体，可用于分层表示系统组成。对于协作机器人，本文展示了如何生成和执行由 SES 和关联模型库 (MB) 指定的 FTC。
A new method used for developing Flexible Task-oriented robot Controls (FTC) using the System Entity Structure (SES) is introduced. Task-oriented robot controls are based on the composition of atomic tasks aimed at achieving a previously specified goal. Flexible task- oriented controls differ in that the composition of atomic tasks is not fixedly predefined but is composed during the operation of the control based on actual process states and with respect to constraints in the sequence of tasks. The System Entity Structure is an ontology, which can be used for hierarchically representing system compositions. For cooperating robots the paper shows how to generate and execute FTCs specified by an SES and an associated model base (MB).