英语翻译In order to executethese good movements of the end-effector,the control softwarewhich makes the RRXC perform the given welding tasks throughthe defined ‘actions’ and its successive combinations.Thus,thecontrol software is de@

英语翻译In order to executethese good movements of the end-effector,the control softwarewhich makes the RRXC perform the given welding tasks throughthe defined ‘actions’ and its successive combinations.Thus,thecontrol software is de@
英语翻译
In order to execute
these good movements of the end-effector,the control software
which makes the RRXC perform the given welding tasks through
the defined ‘actions’ and its successive combinations.Thus,the
control software is defined into four layers here and the
definitions of each layer are as follows
(1) Task manager:this helps to manage the task lists provided by
the users,and to communicate with the teaching pendant (TP).
(2) Task planner:this takes charge of receiving tasks from the
task manager and then it helps to choose a series of required
‘actions’.
(3) Actions for the task:this takes charge of receiving the ‘actions’
from the task planner.Then it helps to generate the trajectory
of the robot through definition of the environmental data and
the robot status from the task executer.
(4) Task executer:this takes charge of controlling the motion
controller and the actuator.It helps the RRXC to execute the
received tasks and then it deciphers the environmental data
and the robot status data obtained from the sensory system.
Thus,it is noteworthy that the tasks can be performed through
the successive combinations of ‘actions’ in the layers of actions for
performing the required task.Furthermore,in order to make
additions of new hardware easy,the unit functions of the task
executer are modularized.Figs.7 and 8 show a diagram of the
four layered architecture and its modules,which makes the
control software run.

英语翻译In order to executethese good movements of the end-effector,the control softwarewhich makes the RRXC perform the given welding tasks throughthe defined ‘actions’ and its successive combinations.Thus,thecontrol software is de@
为了执行末端执行器的动作,用于控制的软件会使机器按照设定好的 运行 程序来实现悍接任务,然后进行连续的接合.象这样,用于控制的软件被设定为四层操作.每层的内容如下：1,任务管理.通过与教导器的交流,帮助其管理用户所提供的任务.2,任务计划.从任务管理这一步接收到的任务,安排一系列设定的程序来实行.3,设定程序.这一步来管理上一步接收到的程序步骤,从任务执行者那获取工作环境数据和机器人自身状态,（确定没问题后）帮助机器人安排形成工作轨道.4,执行任务.管控执行器,来帮助机器执行接收到的任务,并译解从敏感度系统获得的环境数据和机器人工作状态数据.因此,显而易见的是,被要求执行的任务是可以通过层层的设定程序来实现连续接合的.此外,为使新硬件使用起来更为方便,任务执行器的接合作用被模块化了.Fig7和8展示了使控制软件运行的4个模块化结构层次的图表.