A Computer Controller for Performing Autonomous Functions

1.为了实现制造单元中机械手和数控机床的自主功能，需要建立其工作环境的几何模型。提出了一种简单多面体几何模型与详细多面体几何模型相结合的实时处理方法。2.针对关节型机器人实时轨迹规划问题，提出了一种新的避障方法。在构形空间中，只利用碰撞点和碰撞势进行路径规划;在三维空间模型中，只进行碰撞检测。联合使用这两个空间，有效地实现了粗运动规划。3.研究了自由曲面形状特征的提取方法，为刀具轨迹的自动生成提供了理论依据。4.实验性地开发了一个基于假设的真值维护系统。我们现在正在调查的有效性，这个系统的逻辑推理的一般规划问题。

1. In order to implement the autonomous functions of manipulators and NC machine tools in a manufacturing cell, the geometric models of working environment are required. We proposed the efficient method for real-time processing, where the simple polyhedral geometric models and the detailed ones are cooperatively used. 2. For trajectory planning of articulated manipulators in real-time, the new method of obstacle avoidance was proposed. In the configuration space, path planning is executed by only using the collision points and potentials: and in the model of three dimensional space only collision detection is executed. Using these two spaces jointly, rough motion planning is implemented efficiently. 3. Finding the characteristics of free form shapes was studied, which is helpful to autonomous generation of cutter paths. 4. An Assumption Based Truth Maintenance System was experimentally developed. We are now investigating the effectiveness of this system for logical inference of general planning problems.