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 2 制孔任务操作集合（部分）

Tab.2 Collection of operations for drilling tasks (partial)

操作 head(a) pre(a) eff(a) 压脚压紧 !Drilling_FootFasten Drilling_FootFasten=false Drilling_Location=Drilling_HoleID.GoalLocation Drilling_RotSpeed=Drilling_HoleID.GoalRotSpeed Drilling_FootFasten=true 设置主轴转速 !Drilling_P_AxisSet (Drilling_HoleID.GoalRotSpeed) Drilling_P_AxisOn=true Drilling_RotSpeed= Drilling_HoleID.GoalRotSpeed 进给轴进给 !Drilling_F_AxisFeed (Drilling_HoleID.GoalFeedSpeed, Drilling_HoleID.GoalDepth) Drilling_P_AxisOn=true Drilling_F_AxisState=OUT Drilling_FootFasten=true Drilling_Location=Drilling_HoleID.GoalLocation Drilling_RotSpeed=Drilling_HoleID.GoalRotSpeed Drilling_F_AxisState=IN 压脚缩回 !Drilling_FootLoose Drilling_FootFasten=true Drilling_F_AxisState=OUT Drilling_FootFasten=false Drilling_HoleID.State=true Drilling_HoleID+=1 机器人向目标孔 移动调姿 !Drilling_Move (Drilling_HoleID.GoalLocation) Drilling_ProcessFlag=true Drilling_F_AxisState=OUT Drilling_FootFasten=false Drilling_Location= Drilling_HoleID.GoalLocation 建站与基准测量 坐标系转换 !Drilling_Coordinate_Trans Drilling_Cal0HoleID=Drilling_Cal0HoleNum+1 Drilling_Cal0Flag=false Drilling_Cal1Flag=true 产品基准孔测量 !Drilling_P_Measure (Drilling_Cal1HoleID.GoalLocation) Drilling_Location= Drilling_Cal1HoleID.GoalLocation Drilling_Cal1HoleID+=1 加工孔位修正 !Drilling_Hole_Modify Drilling_Cal1HoleID= Drilling_Cal1HoleNum+1 Drilling_Cal1Flag=false Drilling_ProcessFlag=true