机械手类毕业设计外文文献翻译.docx

孑*，八才«隹7处才说
Xi'an Technological University North Institute of Information Engineering
毕业设计（论文）外文资料翻译
系 别：
专 业:
班 级：earch applications as well as for
industrial applications 。However, most of these systems lack the property of
reconfigurability, which is key to the concept of rapidly deployable systems。 The RMMS is particularly easy to reconfigure thanks to its integrated quick— coupling connectors described in Section 3。
Effective use of the RMMS requires， Task Based Design software。 This software takes as input descriptions of the task and of the available manipulator modules; it generatesas output a modular assembly configuration optimally suited to perform the given task. Several different approaches have been used successfully to solve simpli — fied instances of this complicated problem.
A third important building block of a rapidly deployable manipulator system is a framework for the generation of control software 。 To reduce the complexity of softwaregeneration for real— time sensor— based control systems， a software paradigm called software assembly has been proposed in the Advanced Manipulators Laboratory at paradigm combines the concept of reusable and reconfigurable software components， as is supported by the Chimera real-time operating system [15], with a graphical user interface and a visual programming languag，e implemented in Onika
a lthough the software assembly paradigm provides thesoftware infrastructure for rapidly programming manipulator systems，it does not solve the programming problem itself.
Explicit programming of sensor-based manipulator systems is cumbersome due to the extensive amount of detail which must be specified for the robot to perform the task. The software synthesis problem for sensor-basedrobots can be simplified dramatically ， by providing robust robotic skills ， that is, encapsulated strategies for accomplishing common tasks in the robots task domain [11] . Such robotic skills can then be used at the task lev