面向装配作业的多机器人合作协调系统

分布、自主、协调与合作是多机器人系统的发展趋势。本文作者在研究易于协调合作的多机器人系统的基础上，采用分层递阶和多Ａｇｅｎｔ概念，构造了一个装配系统－ＭＲＯＣＡＳ系统。该系统具有任务自动建模分解，快速重组、良好柔性、友好人机界面，各机器人具有一定自主能力等特点，它实现了在较复杂环境下快速完成装配作业。

The tendency of the development of multi robot system is distributed, autonomous, coordinated and cooperative. Based on the research of a coordinated and cooperative multi robot system , the authors build up a Multi robot Cooperation Assembly System (MROCAS ) by using the hierarchy technology and the concept of multi agent. This system has such features as automatically building or decomposing of task models, fast regrouping, as well as individual intelligence and autonomous within each robot. An assemb...

国家自然科学基金,国家863高技术赞助