摘要
本文阐述机器人控制系统应具备的递阶控制体系结构,即决策级、策略级和执行级的分层体系结构,以及各级应完成的功能和各级之间的界面,以 ROBEL-RJ65弧焊机器人的控制器 RSC1000为例,说明如何根据机器人控制系统的递阶控制分层结构来组织控制器的计算机体系结构。
This survey paper reviews recent development and application aspects on robot at home and abroad.The hierarchical control architecture which includes decision level,strategy level,operation level,functions of each level and relative interfaces for the robot control system is described.Taking RSC1000 as an example which is based on ROBEL-RJ65,an arc welding robot control system,the paper illustrate how to build computer architecture of the controller according to the hierarchical control architecture of robot control system.
出处
《交通与计算机》
1991年第2期47-51,共5页
Computer and Communications
