End effector execution method and device and medium

Abstract

The invention provides an end effector execution method and device and a medium, and relates to the technical field of artificial intelligence, and the method comprises the steps: building a world model according to the environment information of an end effector for executing a target interaction task; based on a first preset model, according to the world model and task requirements of the end effector, determining a target structure of the end effector and an interaction behavior strategy of the end effector for executing the target interaction task; based on a second preset model, according to the target structure, determining a structure manufacturing instruction of the end effector manufacturing target structure and a quality regulation and control rule of the end effector manufacturing target structure; controlling an end effector to manufacture a target structure in real time as required through a multi-process additive manufacturing function; and under the condition that the manufacturing of the target structure is completed, according to the interaction behavior strategy, the interaction motion control instruction and the feedback compensation mechanism, controlling a target actuator to execute a target interaction task. The task execution effect of the end effector can be improved. 本申请提供了一种末端执行器执行方法、设备及介质，涉及人工智能技术领域，根据末端执行器执行目标交互任务的环境信息，构建世界模型；基于第一预设模型，根据世界模型和末端执行器的任务需求，确定末端执行器的目标结构，以及末端执行器执行目标交互任务的交互行为策略；基于第二预设模型，根据目标结构，确定末端执行器制造目标结构的结构制造指令，以及末端执行器制造目标结构的质量调控规则；控制末端执行器通过多工艺增材制造功能实时按需制造目标结构；在目标结构制造完成的情况下，根据交互行为策略、交互运动控制指令和反馈补偿机制，控制目标执行器执行目标交互任务。本申请能够提高末端执行器执行任务的执行效果。