基于分层控制的移动机器人最优运动规划

研究移动机器人在带有多移动障碍物的动态环境中的运动规划问题．基于分层最优控制理论，提出了一种新的运动规划方法来解决移动机器人的导航与避障问题．仿真实例证明了该方法的有效性。

Based on the review of the parts mating theory, this paper presents an assembly strategy for arbitrary convex peg  hole parts and multiple peg  hole parts and an assembly system which consists of a newly developed robotics and manipulator with the force function and PUMA562 robot. Different from common design, this micro manipulator combines both active accommodation and passive compliance in one. The system can carry out arbitrary convex peg  hole parts assembly operations along any direction. Typical experiment results are presented at the end of the paper.

中科院机器人学开放研究实验室与清华大学智能技术与系统国家重点实验室资助