查询词典 Robotic

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

To avoid the swing of forebody of robotic fish with single tail-fin,a kind of robotic fish with double tail-fin was designed and was used in SWATH.

针对单尾鳍摆动存在的机器鱼的摇艏问题，设计出双尾鳍仿鱼推进器，并将其应用于小水线面双体船，制作了仿生双尾推进的实验平台，在水池中进行了双尾推进试验研究。

Japanese robotic scientists set up their service robot "Eraser" on June 30, 2009 on the eve of the "RoboCup," the world's largest robotic event, hosting 408 teams with 2,300 scientists and students, in Graz, Austria.

日本机器人的科学家建立了服务机器人"橡皮擦"关于2009年6月30号的前夕，"机器人"，是世界上最大的机器人赛事，主办408队2300的科学家和学生，在奥地利格拉茨。

Microassembly robot is the combination of robotic assembly and micromanipulation, it has become one of the research hotspots in robotic field.

微装配机器人是结合微操作技术和机器人装配理论的产物，是目前微装配与微操作技术及机器人领域的一个研究热点。

This robotic shot peen/blasting system is designed to automatically process a part by using a robotic nozzle manipulator.

该机器人喷丸系统被设计通过一个机器人喷嘴操纵器自动对零件进行处理。

The dissertation gives a brief description about the developing situation and control theory of robot firstly, and then the underlying idea and characteristic of CTC are introduced in detail. Subsequently three classes of control strategies with compensation control structure which are based on CTC are proposed. The overall idea is that the system of robotic manipulators is decomposed as two parts: one is nominal system with perfect knowledge of dynamic model and the other is system with uncertainties. CTC is used to control nominal system. For uncertainties system, we utilize the regressor of robotic system or bounding function on uncertainties to design different compensation controllers. The outputs of the two parts control the robotic

本论文首先介绍机器人的发展概论概况，然后对计算力矩控制算法的基本思想和主要特点作详细的阐述，紧接着探讨基于计算力矩结构不确定性机器人的补偿控制方案，其中的基本思想都是将不确定性机器人系统分解成标称系统和不确定系统：对于标称系统，采用计算力矩控制；对于不确定系统，利用机器人系统的回归矩阵或集中不确定性上界的包络函数，设计不同的补偿控制器。

A scheme of adaptive sliding-mode robust tracking control based on sliding mode equivalent control and robotic dynamics regressor is put forward and globally asymptotic stability of robotic trajectory tracking control systems designed by adopting the presented controller is proved.

基于滑模等价控制的理论和机器人动力学回归模型，提出了一种机器人自适应滑模鲁棒跟踪控制方法，证明了采用这种控制器所设计的机器人轨迹跟踪控制系统是全局渐近稳定的。

Particularly, the swimming velocity and thrust generated by undulatory motion of the developed robotic fin are analyzed theoretically. Furthermore, a computational fluid dynamics method is used to show pressure distribution on robotic fin surface as well as the periodical change of generated swimming thrust with time.

重点推导了仿生鱼鳍波状运动时理论上能到达的推进速度和产生的推进力；并采用数值仿真给出了波动推进时仿生鱼鳍表面的压力分布以及推进力随时间的周期变化规律。

Dyco has a full line of container handling equipment including: Semi through Fully Automatic Bagging Equipment, Manual through Fully Automatic Debagging Equipment, Robotic Integration including, robotic palletizing, robotic bulk palletizing and robotic box loading, Annealing, Palletizing, Mini-Bins, Bottle Turners, and Conveyor Solutions, such as Spiral Accumulators, Cable Conveyor, Table Top Conveyor, Mat Top Conveyor, Pallet Conveyor.

迪柯拥有全系列的集装箱装卸设备包括全自动装袋设备、手动全自动拆袋设备、机器人集成技术包括机器人码垛和机器人散装箱装载、退火设备、码垛设备、迷你箱、封盖机、输送设备如螺旋蓄电池、电缆输送机、桌面输送机、铺垫输送机、货盘输送机等。

Based on the NC swivel table, the robotic grinding experiment platform has been completely constructed by developing a robotic end executor with the center of an air hand-grinder and a robotic test system with the DA-5 displacement sensor.

然后开发了以气动研磨器为核心的机器人末端执行器和以DA-5 位移传感器为检测单元的机器人检测系统。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。