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This paper proposes a general plan and coordination strategy for robot system. The state space for robot system is constructed
according to the task requirement and system characteristic. Reachable state of the system is figured out by the system’s
internal and external constraints. Task plan and coordination are then transformed as trajectory solving problem in the state
space, by which the realizable conditions for the given task are discussed. If the task is realizable, the optimal strategy
for task execution could be investigated and obtained in state space. Otherwise, it could be transformed to be realizable
via adjusting the system configuration and/or task constraint, and the transformation condition could also be determined.
This contributes to design, plan, and coordination of the robotic tasks. Experiments of the manipulator path planning and
multi-robot formation movement are conducted to show the validity and generalization of the proposed method.
Foundation item: the National Natural Science Foundation of China (No. 60675041) and the Program for New Century Excellent Talents in University
(No. NCET-06-0398) 相似文献
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<正>徐工汉风国Ⅳ重卡汽车(中国南京徐工汽车制造有限公司制造)中央集电盒形式图如图1所示,其正面分布有9个带有结构防错的线束插口,以字母"A、B、C、D、E、F、G、H、I"标注;51路带有检测指示灯的熔断器,以"F1～F51"顺序标注;25组继电器插孔,以"K1～K25"顺序标注;另外还有两个螺丝接柱,以"接地"和"IG"标注。该中央集电盒的背面有5个螺丝接柱,其中4个接柱以"FL1、FL4、FL2、FL5"标注,另一个接柱为"接地",与正面的接地接柱相通。该中央集电盒的电路解析如表1所示,电路原理图如图2所示。 相似文献
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正在陕汽德龙X3000系列汽车某些车型上,采用了一种新型中央集电盒,外观图如图1、图2所示。中央集电盒也称为中央电器装置板或者中央电器盒,俗称"保险盒"。本文从一线电路维修技工的角度来论述。1中央集电盒的电器构成及设置1)中央集电盒的正面设置了78路熔断器,实物上以数字1~78顺序标注。为便于电器分类,图1中以F1、F2~F78顺序标注。78路熔断器的功能定义及对应配置的熔断器插片规格如图1所示。 相似文献
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<正>重汽汕德卡汽车中央集电盒电路原理如图1所示，位置形式如图2所示，图件标识为“SINOTRUK WG9716582301/1ID:51.01.OCB47”，标称电压为24V。中央集电盒正面分布有41路熔断器插孔及插片，两组二极管插孔及插片，13组继电器插孔及继电器元件，4组带有结构防错的线束插口及30电源接点与搭铁接点。另外还配有插拔器及备用熔断器。中央集电盒上横排熔断器以“F1～F22”顺序标注，左竖排熔断器以“F23～F28”顺序标注，右竖排熔断器以“F29～F41”顺序标注，各路熔断器标称规格如图2所示。 相似文献
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