一种高级机器人语言中的视觉功能及其引入方法
An Implementation Method of the Vision Facilities in a High Level Robot Programming Language
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摘要: 本文讨论了一种在高级机器人语言RAPT中使用视觉信息的方法.在这个方法中,视觉 信息主要用来发现机器人工作环境中物体的预期位置与实际位置间的差异,并对机器人的动 作进行相应的调整.符号推理系统使得大量的视觉信息处理工作得以在编译阶段进行,以保 证在程序运行阶段视觉系统工作的实时性.视觉信息框架结构使得机器人系统可以充分地利 用视觉信息,以更新其有关工作环境状态的信息.Abstract: In this paper, a method which uses the vision information in a high level robot programming language RAPT is described. The vision information is used to determine the difference between the planned positions and the actual positions of objects in the robot's environment, and adjust the robot's actions accordingly. By using symbolic reasoning, the main calculation for vision information is done at the compile time so that the run time vision task can be performed at real time. A robust framework for handling vision data is provided, so that all ramifications of the effect of the vision information are taken into account.
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