A Computer Controller for Performing Autonomous Functions

1. 为了在制造单元中实现机械手和数控机床的自主功能，需要建立工作环境的几何模型。提出了一种将简单多面体几何模型与精细多面体几何模型相结合的高效实时处理方法。2. 针对关节机械臂的实时轨迹规划问题，提出了一种新的避障方法。在构形空间中，仅使用碰撞点和势能来执行路径规划；在三维空间模型中，仅执行碰撞检测。结合这两个空间，可以有效地实现粗运动规划。3. 研究了自由形状的特征，为刀具轨迹的自主生成提供了依据。4. 实验开发了一种基于假设的真理维护系统。我们现在正在研究这个系统对总体规划问题的逻辑推理的有效性。

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.