基于分层任务网络的机器人任务表达与规划方法

付星彭,罗群,蒋林贝,王青,张沛奇,柯映林

Robot task expression and planning method based on hierarchical task network

Xingpeng FU,Qun LUO,Linbei JIANG,Qing WANG,Peiqi ZHANG,Yinglin KE

表 1 制孔任务（分解）方法集合（部分）

Tab.1 Collection of methods (decomposition) for drilling tasks (partial)

方法 head(c) pre(c) eff(c) Tn(c) 机器人 制孔任务 Drilling_Task Drilling_Location= Drilling_GoalLocation() Drilling_TaskFlag=true Drilling_ProcessFlag=false Drilling_TaskFlag=false !Drilling_FullStart→Drilling_Pre_Process→!Drilling_P_AxisStart(Drilling_RotSpeed0)→Drilling_Process (Drilling_RegionNum)→!Drilling_P_AxisEnd→!Drilling_Back→!Drilling_FullStop 制孔前 准备任务 Drilling_Pre_Process Drilling_TaskFlag=true Drilling_ProcessFlag=true Drilling_Pre_Station(Drilling_Cal0HoleNum)→Drilling_Pre_R_Hole(Drilling_Cal1HoleNum) 制目标区域孔 Drilling_Process_Region (RegionID_HoleNum) Drilling_Region (ID-1).State=true Drilling_RegionID. State=true Drilling_Process_Hole(Hole1)→…→Drilling_Process_Hole(HoleNum) 制目标孔 Drilling_Process_ Hole(HoleID) Drilling_RegionNum_ Hole(ID-1).State=true Drilling_RegionID_ Hole(ID).State= true !Drilling_Move(Drilling_HoleID.GoalLocation)→!Drilling_P_AxisSet(Drilling_HoleID.GoalRotSpeed)→!Drilling_FootFasten→!Drilling_F_AxisFeed(Drilling_HoleID.GoalFeedSpeed, Drilling_HoleID.GoalDepth)→!Drilling_F_AxisBack→!Drilling_FootLoose 基准孔 测量修正 Drilling_Pre_R_Hole (Drilling_Cal1HoleNum) Drilling_Cal1Flag=true Drilling_Cal1Flag=false Drilling_ProcessFlag=true !Drilling_MoveCal1(Drilling_Cal1Hole1.GoalLocation)→!Drilling_P_Measure(Drilling_Cal1Hole1.GoalLocation)→···→!Drilling_MoveCal1(Drilling_Cal1HoleNum.GoalLocation)→!Drilling_P_Measure(Drilling_Cal1HoleNum.GoalLocation)→!Drilling_Hole_Modify