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排球机器人
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  volleyball robot
     On Trajectory Planning of a Volleyball Robot Based on Blackboard Model
     基于黑板模型的排球机器人动作规划
短句来源
     Research on Hitting Point and Hitting Velocity of Volleyball Robot
     排球机器人动作规划方法研究
短句来源
     The Case-Based Learning of Motion Planning and Its SVR Implementation for Volleyball Robot
     基于案例学习的排球机器人运动规划及其支持向量回归实现
短句来源
     This met hod was applied to the volleyball robot, and it realized hitting action of the b all along its path anywhere within the robot workspace.
     将该方法应用于确定排球机器人击球点 ,实现了在排球机器人工作空间内的球运动路径上任意位置回球。
短句来源
     We design a motion planning frame for the volleyball robot task based on blackboard model, and refer each subtask as an agent.
     基于黑板模型设计了排球机器人动作规划框架,并将动作规划中的各个子任务定义为智能体。
短句来源
  相似匹配句对
     Robot
     机器人
短句来源
     Volleyball
     排球
短句来源
     Research on Hitting Point and Hitting Velocity of Volleyball Robot
     排球机器人动作规划方法研究
短句来源
     On Trajectory Planning of a Volleyball Robot Based on Blackboard Model
     基于黑板模型的排球机器人动作规划
短句来源
     i, ROBOT What will you do with yours?
     《我,机器人
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  volleyball robot
Real-Time Motion Planning for a Volleyball Robot Task Based on a Multi-Agent Technique
      
This paper takes the volleyball robot task as an example of a dynamic manipulation task and presents a multi-agent-based motion-planning framework for it.
      


The problem was analyzed for the rendezvous po in t, hitting pose and hitting velocity of the volleyball robot. On the basis of de lay time of the system,the robot travel-time function and the target arrival-t ime function were introduced and a common method was presented to select the ren dezvous point of such tasks as robot hitting, intercepting and catching.This met hod was applied to the volleyball robot, and it realized hitting action of the b all along its path anywhere within the robot workspace. Moreover,...

The problem was analyzed for the rendezvous po in t, hitting pose and hitting velocity of the volleyball robot. On the basis of de lay time of the system,the robot travel-time function and the target arrival-t ime function were introduced and a common method was presented to select the ren dezvous point of such tasks as robot hitting, intercepting and catching.This met hod was applied to the volleyball robot, and it realized hitting action of the b all along its path anywhere within the robot workspace. Moreover, with the impac t model between robot and ball, the pose and the velocity of the robot to hit th e ball back were determined. A simulation of the Motoman SV3 manipulator demonst rates its feasibility.

解决了排球机器人击球点、击球姿态及击球速度的确定问题。在考虑系统延时基础上 ,通过引入机器人动作时间函数和目标到达时间函数 ,提出了一种解决机器人击球、拦截和抓取运动目标等任务的通用的目标拦截点确定方法。将该方法应用于确定排球机器人击球点 ,实现了在排球机器人工作空间内的球运动路径上任意位置回球。同时 ,通过建立机器人手部与球的碰撞模型 ,确定了机器人的击球姿态及击球速度。针对MotomanSV3机械手进行的仿真研究证明了其可行性

We design a motion planning frame for the volleyball robot task based on blackboard model, and refer each subtask as an agent. The problem of motion planning is settled by the solution of each subtask activated by blackboard. Besides, the optimal posture of the manipulator in its feasible motion set is chosen by computing the manipulability measure of the manipulator, which differs from the motion planning of other ball-playing robots. The simulation of a 3-link planar manipulator hitting ball task is implemented...

We design a motion planning frame for the volleyball robot task based on blackboard model, and refer each subtask as an agent. The problem of motion planning is settled by the solution of each subtask activated by blackboard. Besides, the optimal posture of the manipulator in its feasible motion set is chosen by computing the manipulability measure of the manipulator, which differs from the motion planning of other ball-playing robots. The simulation of a 3-link planar manipulator hitting ball task is implemented using Matlab Simulink and obtains the optimal hitting motion subject to manipulability measure. The simulation also illustrates the idea of motion planning based on blackboard and multi-agent technique.

基于黑板模型设计了排球机器人动作规划框架,并将动作规划中的各个子任务定义为智能体。由黑板激活相应的智能体进行子任务求解,从而完成排球机器人的击球动作规划问题。此外,考虑到排球任务的特点,以机械臂的可操作度作为评价函数,选取最优的机械臂构形。最后,采用MatlabSimulink对平面3连杆机械臂的击球问题进行了仿真研究,得到满足可操作度指标下的最优击球动作。该仿真的实现过程体现了基于黑板模型及多智能体技术的思想。

 
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