摘要
本文对近十年来多机器人操作同一个物体或一个机械系统时的研究进行了综述。着重讲述了机器人系统(多机器人)动力学与控制的独特性质,以及所提出的独特控制问题,这些性质与问题是单机器人控制和一般控制问题中所没有的。文中将过去分散的研究成果加以归纳,说明其实质与相互关系,是对概念、方法、问题提法的一个系统的论述。
This paper gives a survey to the research works devoting to the manipulation of one object or a mechanical system by a multiple robot system developing in the recent decade. Attention is paid to the specific characteristics in the dynamics and control issues appeared in multiple robot systems, which do not appear in single robot cases. The main characteristics, mutual relations as well as the establishment of new ideas, methods and problems scattered in the previous original papers are stated in a unified and systematic way.
出处
《控制与决策》
EI
CSCD
北大核心
1992年第3期161-168,共8页
Control and Decision
关键词
机器人
动力学
协调控制
multiple robot systems
robot control
