Robot unirersal open control system facing object

Abstract

A universal open control system for the object-oriented robot is disclosed, which features that the "object-oriented abstract robot" is provided as the relative programming model, the control modules for action layer, behaviour layer and task layer, and the space-sensing, information-sensing, sensor and sensed information interpreter modules are defined, and the interactive mode and layer attribute between said modules are restricted.

Description

Technical field: [0001] The invention relates to an object-oriented universal open control system for robots, which realizes the standardization and generalization of robot intelligent modules, regulates the research and development of robots, and belongs to the technical fields of robots, computer engineering, and robot-computer interfaces. Background technique [0002] There are nearly 1 million robots in operation in the world today, and robots have become a promising industry. The research of open structure robot control system is currently a hot topic that scholars at home and abroad have paid attention to, such as NYMPH system researched and developed by Stanford University, MIT / Utah hand experimental system developed by MIT and OSMR system developed by Shenyang Institute of Automation in my country. According to investigations, the Institute of Automation of the Chinese Academy of Sciences has applied for a patent for the "open industrial robot control platform", with the ...

AI Technical Summary

Problems solved by technology

This invention is mainly applied to robots based on industrial computer platforms, so it cannot be extended to robot control on general hardware platforms

[0003] At present, the existing robot control system has a lack of generality in terms of architecture, and this problem has affected the research and development of robot technology.

First of all, because existing robot control systems are often developed based on a certain or a certain series of robot hardware platforms, most robot control systems cannot be transplanted across hardware platforms; secondly, because a certain control strategy (such as path planning or behavior-based mechanism) is selected as its Modular reference basis, the intelligent modules and programs of the existing robot control system cannot be used in common on different robots, so that some intelligent algorithms must be modified and reprogrammed when applied to different robots, resulting in a waste of research energy; again, due to There is a lack of standardized research and development specifications in the system structure of the robot control system. The robot products and robot intelligence programs produced by different manufacturers and research institutions are not common, resulting in the inability of the robot technology research of various research institutions to communicate with each other. Research and Development of Robotics

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