Research On Timeliner Mechanism And Its Application In Robot Control

Mission management is a key technology in complex control direction. In the progress of facing to practical application, traditional Mission Management System(MMS) based on time and events can not adapt the complexity of environment and tasks, highly requirements have been proposed to improve MMS's autonomy ability. Timeliner is a powerful MMS, it provides a new thought for management of complex task under uncertain environment. But most of research of Timeliner is developed in developed Occident, there is hardly any study in our country. Therefore, research on Timeliner mechanism and its applications in robot control is developed in this paper, there are three main achievements as below:1. Timeliner system's structure and mechanism has been studied.Timeliner system's structure is summarizd systemetically, system structure's characteristics are analysed by comparing to traditional MMS. And then some study on Timeliner's mechanism is developed, and its characteristics are summed up. This paper analyses its own advantages by comparing its mechanism to MMS which are based on time and events, and then an example has been proposed for explaining Timeliner's advantages. This achievement establishes a theory foundation for further research.2.Robot control method based on Timeliner has been studied. Based on state express, this paper describes the robot peg-in-hole problem. Robot system is modeled,Timeliner's timeline states are designed, Timeliner's real time control strategies are explored, and then a real time control arithmetic which is based on Timeliner is proposed. This achievement establishes a method foundation for further research.3.In order to verified the effectiveness of robot control method based on Timeliner, a simulation experiment is designed by combining existed virtual-reality subsystem. The experiment's result embodies a few mechanism of Timeliner, verifies that Timeliner has good effectiveness in robot control.The study of Timeliner mechanism and its applications in robot control will be a valuable reference for applications of Timeliner in complex control fields such as Aeronautics and Astronautics direction.