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Studies on cooperative systems of multiple robots by use of knowledge concerned with task-context and task-circumstance

利用与任务背景和任务环境有关的知识研究多机器人协作系统

基本信息

批准号：
02452182
负责人：
NAGATA Tadashi
金额：
$ 3.78万
依托单位：
KYUSHU UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (B)
财政年份：
1990
资助国家：
日本
起止时间：
1990 至 1992
项目状态：
已结题

项目摘要

Researches on cooperation of multiple robots have been done corresponding to following three levels;(1) task planning level,(2) recognition and modeling level and (3) manipulator control level.(1) Developing a method of obtaining task-sequences for performing subgools by use of temporal logic,we developed a new and efficient planning system for multiple robots on the basis of this method. Scondly,as for as robot assembly planning based on AND/OR graph is concerned, automatic generation of planning by use of the knowledge of parts and assembly-resolution processes and efficient search method of the tree were developed.(2) A separation method of surfaces of an object by use of surfaces in formation and a recognition method of 3-D curved objects were proposed.A modeling method of 3-D objects wasalso proposed on the basis of extracting saliency of objects automatically. Integration of primitive image processings and its applications by use of hierarchical hexagonal image structure were also performed.(3) Control rules at a task level for cooperative tasks with multiple manipulators were developed by use of force control algorithms based on fundamental fuzzy rules, and resultsof applying these rules to some cooperative tasks revealed the usefulness of this approach. This rule based control method of multiple manipulators is hierarchically constructed byrules belongs to some levels, and is seemed to be very flexible and applicable to complicated tasks.

多机器人协作问题的研究分为三个层次：（1）任务规划层，（2）识别与建模层，（3）机械手控制层。(1)提出了一种利用时序逻辑获取执行子任务的任务序列的方法，并在此基础上开发了一个新的高效的多机器人规划系统。其次，针对基于AND/OR图的机器人装配规划问题，提出了利用零件知识和装配分解过程知识自动生成装配规划的方法，以及有效的装配树搜索方法。(2)提出了一种利用曲面信息进行物体表面分离的方法和一种三维曲面物体的识别方法，并提出了一种基于物体显著性自动提取的三维物体建模方法。利用层次六边形图像结构，实现了原始图像处理及其应用的集成。(3)利用基于基本模糊规则的力控制算法，在多机械手协作任务的任务级上建立了控制规则，并将这些规则应用于多机械手协作任务，结果表明了该方法的有效性。这种基于规则的多机械手控制方法是由属于某个层次的规则分层构成的，具有很强的灵活性，适用于复杂的控制任务。