计算机控制自动机的运动规划

Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication Pub Date : 1993-11-03 DOI:10.1109/ROMAN.1993.367693

R. Ikeura, M. Kimura, H. Inooka

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引用次数: 3

摘要

本文研究了计算机控制自动机(CCA)的运动规划。我们考虑两个步骤的运动规划;(1)创建粗略的运动模式。(2)反复修改图案，创造出理想的运动。首先应用作者提出的机器人任务实时规划方法。使用这种方法，人类操作员可以生成CCA的轨迹，同时通过操作操纵杆监测实际运动。为了在第二步中精确地修正运动不足，开发了CAD系统。介绍了该CAD系统的工具，并通过一个实验实例证明了其有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Motion planning of computer controlled automata

This paper describes motion planning of computer controlled automata (CCA). We consider two steps for the motion planning; (1) Create rough patterns of motion. (2) Modify the patterns iteratively and create a desired motion. A real time planning method for a robot task, which has been developed by authors, is applied as the first step. Using this method, a human operator can generate a trajectory of the CCA while monitoring the actual motion by operating a joystick. For accurately modifying inadequate motion in the second step, a CAD system is developed. Tools for the CAD system are described and, then, the effectiveness is shown in an experimental example.<>

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Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication

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