The objeetive of the present research is to develop an holonie arehiteeture of manufacturing systems. A eoneept of the holonie strueture of manufaeturing systems are diseussed, and an objeet oriented modeling method is proposed to represent the data and the aetivities of the holonie eomponents of the manufaeturing systems, such as workpieees, workstations, maehine tools, AGVs and so on. Objeet oriented models are developed to represent simulation models of the holonie manufaeturing system for the meehanieal produets and one for the eomposite parts of the airerafts. Prototypes of the holonie real time seheduling systems are developed based on the simulation models, and ease studies are earried out.
As f( )r the 6−le 伊 ・ fobot , a static walking is always adhieved , it is possible to walk . Here , the loss of the leg is thou 帥 t by some circ mstances in the disaster slrpport robCt while walkingofthe disaster sq 】 po 【 t. Ih that case , it is not possible to keq〕 wa 皿 dllgby a usual wa ga 董 g )rithm . Th , the walking algr 〕ritkm at the fadures up totwowas exarnined . Key W6rds:IZobot walk −− Algorithm ' θ 9適 ぬ r 召
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