论文部分内容阅读
装配作业是一种精细复杂的智能控制作业。机器人化装配需要知识与判断的支持。阐述了装配作业的目标、主要装配关系和装配动作。给出了一组有关零部件拆卸装配的基本规则。探讨了约束的一种表征和移动拆卸的判断算法,在二维平面内验证了判断算法的可行性,给出
Assembly work is a sophisticated and intelligent control job. Robotic assembly requires knowledge and judgment support. Describe the assembly operations objectives, the main assembly relationship and assembly actions. A set of basic rules for assembly and disassembly of parts is given. A characterization of the constraint and disassembly judgment algorithm are discussed. The feasibility of the judgment algorithm is verified in the two-dimensional plane.