Research on the Technique of Planning Level Control for Excavating-Robot
采掘机器人的规划级控制技术研究

The methods of task planning, path planning and trajectory planning are studied. The local autonomy mode control of planning level for whole task cycle process, excavating process based on predetermined path and force-monitor is realized on the experimental prototype. And the software of three dimensional dynamic simlation is developed for examining the theory of planning level control.