论文部分内容阅读
8-1 引言机器人控制是开发智能机器人的一个极其重要的研究内容。通常,机器人控制是由上下两层组成的多层次控制结构。上层控制主要完成识别、判断和行动规划等各种处理,下层控制主要根据上层控制处理的结果进行相应的运动控制。目前,机器人控制的理论和方法还处于相当初级的水平。众所周知,人和动物都能利用神经系统巧妙地控制各种肌肉,有机地协调身体各部位完成各种复杂的运动。在这些运动中,人脑对外部环境变化进行了自
8-1 Introduction Robot control is an extremely important research topic for developing intelligent robots. Usually, the robot control is a multi-level control structure consisting of two layers. The upper control mainly finishes identification, judgment and action planning, and the lower control mainly performs the corresponding motion control according to the result of the upper control processing. At present, the theory and method of robot control is still at a fairly advanced level. It is well known that both humans and animals can use the nervous system to skillfully control various muscles and organically coordinate various parts of the body to perform various complicated exercises. In these movements, the human brain has made changes to the external environment