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황호연(Hoyeon Hwang),전정민(Jeongmin Jeon),정홍렬(Hong-ryul Jung),김수종(Sujoing Kim),문형필(Hyungpil Moon) 대한기계학회 2019 대한기계학회 춘추학술대회 Vol.2019 No.11
Task planning and motion planning are needed to handle the task the robot wants. The task planning is represented by a graph structure map of vertices and edges. At the vertex, the robot manipulator information, position, and object’s position were shown, and the edge represented the behavior of the robot, which was represented by a graph structure. With information about objects in the graph structure, geometric constraints can be considered in task planning. The heuristic can be used in the graph search algorithm to find the optimal path for task planning. Motion planning and v-rep simulator allow you to see the results of task planning.