The Research On Several Problems About Skill Technology

Skill technology is a challenging topic in the field of artificial intelligence. It is the multiple intelligence performance. Single intelligent technology is difficult to achieve complex skill function. Skills are human experience accumulated from the production practice,and are the important conditions for creative activities. The main optimization function of skill technology has three levels, namely the strategy optimization, mission planning, and motion planning. This paper mainly includes the following work based on human’s skills:1. Introduce the concept, characteristics, and research significance of skills and skill technology. Put forward the basic ideas and overall function structure of skill technology, describe the process of its implementation. Taking massage technology for an example, describe its massage mission and divided the task structure system.2. In the study of mission planning, firstly, compare the four task description methods; secondly, analyze their respective advantages and disadvantages; finally, choose HTN representation as the method of massage robot task planning. Apply the principle and methods of HTN mission planning to massage task on the basis of expounding them. Divide the massage task into several sub-tasks which can be executed directly. Create a task model with FSM, and map various states and sub-tasks into task model, forming a series of actions, and therefore completing the mission planning.3. Motion planning layer is mainly to generate motion trajectory for the action sequences planned out in the mission planning. First, expound the related theoretical knowledge of trajectory planning and b-spline algorithm; derive the mathematical formula and algorithm of b-spline algorithm; get the time optimization constraints on the basis of the b-spline mathematical formula. Second, make the positive and inverse kinematics simulation on massage robot model established by MATLAB toolbox; verify the related mathematics theory and the correctness of the robot model; simulate the trajectory for the first three joints using b-spline curve to construct the trajectory of the robot at the premise of time optimal constraint, reaching the expected effect.This paper applies mission planning and motion planning to massage robot and obtains the massage task sequence, which verifies the correctness of the modeling and optimization, and provides theoretical basis for future related research and application of massage robot.