查询词典 robot control system

PART 1 UNIT 1 B Electrical and Electronic Engineering Basics A Electrical Networks ———————————— 3 Three-phase Circuits A The Operational Amplifier ——————————— 5 UNIT 2 B Transistors A Logical Variables and Flip-flop —————————— 8 UNIT 3 B Binary Number System A Power Semiconductor Devices —————————— 11 UNIT 4 B Power Electronic Converters A Types of DC Motors —————————————15 UNIT 5 B Closed-loop Control of DC Drivers A AC Machines ———————————————19 UNIT 6 B Induction Motor Drive A Electric Power System ————————————22 UNIT 7 B PART 2 UNIT 1 B Power System Automation Control Theory A The World of Control ————————————27 —————29 The Transfer Function and the Laplace Transformation UNIT 2 B A Stability and the Time Response ————————— 30 Steady State————————————————— 31 A The Root Locus ————————————— 32 ————— 33 UNIT 3 B The Frequency Response Methods: Nyquist Diagrams UNIT 4 A The Frequency Response Methods: Bode Piots ————— 34 B Nonlinear Control System 37 UNIT 5 A Introduction to Modern Control Theory B State Equations 40 38 UNIT 6 A Controllability, Observability, and Stability B Optimum Control Systems UNIT 7 A Conventional and Intelligent Control B Artificial Neural Network Computer Control Technology A Computer Structure and Function 42 B Fundamentals of Computer and Networks 43 44 PART 3 UNIT 1 UNIT 2 A Interfaces to External Signals and Devices B The Applications of Computers 46 UNIT 3 A PLC Overview B PACs for Industrial Control, the Future of Control UNIT 4 A Fundamentals of Single-chip Microcomputer 49 B Understanding DSP and Its Uses 1 UNIT 5 A A First Look at Embedded Systems B Embedded Systems Design Process Control A A Process Control System B 50 PART 4 UNIT 1 Fundamentals of Process Control 52 53 UNIT 2 A Sensors and Transmitters B Final Control Elements and Controllers UNIT 3 A P Controllers and PI Controllers B PID Controllers and Other Controllers UNIT 4 A Indicating Instruments B Control Panels Control Based on Network and Information A Automation Networking Application Areas B Evolution of Control System Architecture PART 5 UNIT 1 UNIT 2 A Fundamental Issues in Networked Control Systems B Stability of NCSs with Network-induced Delay UNIT 3 A Fundamentals of the Database System B Virtual Manufacturing—A Growing Trend in Automation UNIT 4 A Concepts of Computer Integrated Manufacturing B Enterprise Resources Planning and Beyond Synthetic Applications of Automatic Technology A Recent Advances and Future Trends in Electrical Machine Drivers B System Evolution in Intelligent Buildings PART 6 UNIT 1 UNIT 2 A Industrial Robot B A General Introduction to Pattern Recognition UNIT 3 A Renewable Energy B Electric Vehicles UNIT 1 A

电路 2 电路或电网络由以某种方式连接的电阻器，电感器和电容器等元件组成。如果网络不包含能源，如电池或发电机，那么就被称作无源网络。换句话说，如果存在一个或多个能源，那么组合的结果为有源网络。在研究电网络的特性时，我们感兴趣的是确定电路中的电压和电流。因为网络由无源电路元件组成，所以必须首先定义这些元件的电特性。就电阻来说，电压-电流的关系由欧姆定律给出，欧姆定律指出：电阻两端的电压等于电阻上流过的电流乘以电阻值。在数学上表达为： u=iR (1-1A-1)式中 u=电压，伏特；i =电流，安培；R =电阻，欧姆。纯电感电压由法拉第定律定义，法拉第定律指出：电感两端的电压正比于流过电感的电流随时间的变化率。因此可得到：U=Ldi/dt 式中 di/dt =电流变化率，安培/秒； L =感应系数，享利。电容两端建立的电压正比于电容两极板上积累的电荷 q 。因为电荷的积累可表示为电荷增量 dq 的和或积分，因此得到的等式为 u=，式中电容量 C 是与电压和电荷相关的比例常数。由定义可知，电流等于电荷随时间的变化率，可表示为 i = dq/dt。因此电荷增量 dq 等于电流乘以相应的时间增量，或 dq = i dt，那么等式(1-1A-3)可写为式中 C =电容量，法拉。

PART 1 Electrical and Electronic Engineering Basics UNIT 1 A Electrical Networks B Three-phase Circuits UNIT 2 A The Operational Amplifier ——————————— 5 B Transistors UNIT 3 A Logical Variables and Flip-flop —————————— 8 ———————————— 3 B Binary Number System UNIT 4 A Power Semiconductor Devices —————————— 11 B Power Electronic Converters UNIT 5 A Types of DC Motors —————————————15 B Closed-loop Control of DC Drivers UNIT 6 A AC Machines ———————————————19 B Induction Motor Drive UNIT 7 A Electric Power System ————————————22 B Power System Automation PART 2 Control Theory UNIT 1 A The World of Control ————————————27 B The Transfer Function and the Laplace Transformation UNIT 2 A B —————29 Stability and the Time Response ————————— 30 ————————————— 32 Steady State————————————————— 31 UNIT 3 A The Root Locus B The Frequency Response Methods: Nyquist Diagrams ————— 33 UNIT 4 A The Frequency Response Methods: Bode Piots ————— 34 B Nonlinear Control System 37 UNIT 5 A Introduction to Modern Control Theory B UNIT 6 State Equations 40 38 A Controllability, Observability, and Stability B Optimum Control Systems UNIT 7 A Conventional and Intelligent Control B Artificial Neural Network PART 3 UNIT 1 Computer Control Technology A Computer Structure and Function B 42 43 44 Fundamentals of Computer and Networks UNIT 2 A Interfaces to External Signals and Devices B The Applications of Computers 46 UNIT 3 A PLC Overview B PACs for Industrial Control, the Future of Control 1 UNIT 4 A Fundamentals of Single-chip Microcomputer B Understanding DSP and Its Uses 49 UNIT 5 A A First Look at Embedded Systems B Embedded Systems Design PART 4 UNIT 1 Process Control A A Process Control System 50 B Fundamentals of Process Control 53 52 UNIT 2 A Sensors and Transmitters B Final Control Elements and Controllers UNIT 3 A P Controllers and PI Controllers B PID Controllers and Other Controllers UNIT 4 A Indicating Instruments B Control Panels PART 5 UNIT 1 Control Based on Network and Information A Automation Networking Application Areas B Evolution of Control System Architecture UNIT 2 A Fundamental Issues in Networked Control Systems B Stability of NCSs with Network-induced Delay UNIT 3 A Fundamentals of the Database System B Virtual Manufacturing—A Growing Trend in Automation UNIT 4 A Concepts of Computer Integrated Manufacturing B Enterprise Resources Planning and Beyond PART 6 UNIT 1 Synthetic Applications of Automatic Technology A Recent Advances and Future Trends in Electrical Machine Drivers B System Evolution in Intelligent Buildings UNIT 2 A Industrial Robot B A General Introduction to Pattern Recognition UNIT 3 A Renewable Energy B Electric Vehicles 2 UNIT 1 A

电路 电路或电网络由以某种方式连接的电阻器，电感器和电容器等元件组成。如果网络不包含能源，如电池或发电机，那么就被称作无源网络。换句话说，如果存在一个或多个能源，那么组合的结果为有源网络。在研究电网络的特性时，我们感兴趣的是确定电路中的电压和电流。因为网络由无源电路元件组成，所以必须首先定义这些元件的电特性。就电阻来说，电压-电流的关系由欧姆定律给出，欧姆定律指出：电阻两端的电压等于电阻上流过的电流乘以电阻值。在数学上表达为： u=iR (1-1A-1)式中 u=电压，伏特；i =电流，安培；R =电阻，欧姆。纯电感电压由法拉第定律定义，法拉第定律指出：电感两端的电压正比于流过电感的电流随时间的变化率。因此可得到：U=Ldi/dt 式中 di/dt =电流变化率，安培/秒； L =感应系数，享利。电容两端建立的电压正比于电容两极板上积累的电荷 q 。因为电荷的积累可表示为电荷增量 dq 的和或积分，因此得到的等式为 u=，式中电容量 C 是与电压和电荷相关的比例常数。由定义可知，电流等于电荷随时间的变化率，可表示为 i = dq/dt。因此电荷增量 dq 等于电流乘以相应的时间增量，或 dq = i dt，那么等式(1-1A-3)可写为式中 C =电容量，法拉。

PART 1 Electrical and Electronic Engineering Basics UNIT 1 A UNIT 2 A UNIT 3 A UNIT 4 A UNIT 5 A UNIT 6 A UNIT 7 A Electrical Networks ———————————— 3 B Three-phase Circuits The Operational Amplifier ——————————— 5 Logical Variables and Flip-flop —————————— 8 Power Semiconductor Devices —————————— 11 Types of DC Motors —————————————15 AC Machines ———————————————19 Electric Power System ————————————22 B Transistors B Binary Number System B Power Electronic Converters B Closed-loop Control of DC Drivers B Induction Motor Drive B Power System Automation PART 2 Control Theory UNIT 1 A B UNIT 2 A UNIT 3 A UNIT 4 A The World of Control ————————————27 Stability and the Time Response ————————— 30 The Root Locus ————————————— 32 The Transfer Function and the Laplace Transformation —————29 B Steady State————————————————— 31 B The Frequency Response Methods: Nyquist Diagrams ————— 33 The Frequency Response Methods: Bode Piots ————— 34 B Nonlinear Control System 37 UNIT 5 A Introduction to Modern Control Theory B B B PART 3 B B B State Equations Optimum Control Systems Artificial Neural Network Computer Control Technology 42 43 44 Fundamentals of Computer and Networks The Applications of Computers 46 40 38 UNIT 6 A Controllability, Observability, and Stability UNIT 7 A Conventional and Intelligent Control UNIT 1 A Computer Structure and Function UNIT 2 A Interfaces to External Signals and Devices UNIT 3 A PLC Overview PACs for Industrial Control, the Future of Control 1 UNIT 4 A Fundamentals of Single-chip Microcomputer 49 B B PART 4 B B B B PART 5 B B B B PART 6 Understanding DSP and Its Uses Embedded Systems Design Process Control 50 52 53 Fundamentals of Process Control UNIT 5 A A First Look at Embedded Systems UNIT 1 A A Process Control System UNIT 2 A Sensors and Transmitters Final Control Elements and Controllers PID Controllers and Other Controllers Control Panels Control Based on Network and Information Evolution of Control System Architecture Stability of NCSs with Network-induced Delay Virtual Manufacturing—A Growing Trend in Automation Enterprise Resources Planning and Beyond Synthetic Applications of Automatic Technology UNIT 3 A P Controllers and PI Controllers UNIT 4 A Indicating Instruments UNIT 1 A Automation Networking Application Areas UNIT 2 A Fundamental Issues in Networked Control Systems UNIT 3 A Fundamentals of the Database System UNIT 4 A Concepts of Computer Integrated Manufacturing UNIT 1 A Recent Advances and Future Trends in Electrical Machine Drivers B B B System Evolution in Intelligent Buildings A General Introduction to Pattern Recognition Electric Vehicles UNIT 2 A Industrial Robot UNIT 3 A Renewable Energy 2 UNIT 1 A

电路 电路或电网络由以某种方式连接的电阻器，电感器和电容器等元件组成。如果网络不包含能源，如电池或发电机，那么就被称作无源网络。换句话说，如果存在一个或多个能源，那么组合的结果为有源网络。在研究电网络的特性时，我们感兴趣的是确定电路中的电压和电流。因为网络由无源电路元件组成，所以必须首先定义这些元件的电特性。就电阻来说，电压-电流的关系由欧姆定律给出，欧姆定律指出：电阻两端的电压等于电阻上流过的电流乘以电阻值。在数学上表达为： u=iR (1-1A-1)式中 u=电压，伏特；i =电流，安培；R =电阻，欧姆。纯电感电压由法拉第定律定义，法拉第定律指出：电感两端的电压正比于流过电感的电流随时间的变化率。因此可得到：U=Ldi/dt 式中 di/dt =电流变化率，安培/秒； L =感应系数，享利。电容两端建立的电压正比于电容两极板上积累的电荷 q 。因为电荷的积累可表示为电荷增量 dq 的和或积分，因此得到的等式为 u=，式中电容量 C 是与电压和电荷相关的比例常数。由定义可知，电流等于电荷随时间的变化率，可表示为 i = dq/dt。因此电荷增量 dq 等于电流乘以相应的时间增量，或 dq = i dt，那么等式(1-1A-3)可写为式中 C =电容量，法拉。

Start from the delamination concept of robot's control system, we analysis the structure of convey robot's control system.

我们从机器人控制的分层概念入手，分析了搬运机器人所在控制系统的构成，其中包括控制系统的硬件、伺服控制器和通讯系统。

The recursive least-squares estimation method is used to estimate the parameters in the modelled part of the robot dynamics, and the parameters is used to form the feedback control based upon the so-called"inverse system method". The unmodelled part of the robot dynamics is compensated by a learning control law. This not only increases the learning convergence speed and the control system robustness, but also extends the control method to non-repetitive tasks after sufficient learning.

采用递推最小二乘辩识方法来辩识机器人动力学特性中可建模部分的模型参数，并以此来构成反馈控制策略，而对未建模动特性和未知扰动的影响采用学习控制的方法予以克服，从而提高了学习控制过程的收敛速度和鲁棒性，拓宽了它的适用范围。

Through the introduction of the control system of the mobile robot at present, the control system in this paper is presented. Based on this, the function module is demarcated, and the movement of the mobile robot to achieve is confirmed.

论述了当前存在的移动机器人控制体系，在此基础上提出了本文所要采用控制体系，并且设定了当前移动机器人的功能模块，以及移动机器人所要实现的运动。

On the basis of this,"High Resolution Image-Collect System Based on CMOS" and "Intelligent Trip AITU" are designed and developed, and integrated with MOTOMAN-SV3X robot of YASKAWA Company to build up AVMS vision robot detection and control system. Using the system as platform, the experiment of vision robot tracking based on image moments has accomplished.

基于对AVMS的视觉系统的分析和研究，本文设计的基于CMOS的高分辨率图像采集系统ADIS，是以CMOS图像传感器芯片为图像采集核心，USB2.0控制芯片为传输控制器，CPLD为时序控制器作为主要硬件组成，再结合上层应用软件通过驱动与上位机进行通信，进行图像的采集、存储，用于图像处理与机器人视觉等用途的前端图像采集系统。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

In this paper RoboCup Mid-size Robot are the object of study from the two sides of the robot system and the system of multi-robot cooperation, the main research results are as follows: First, this paper reasearches the problom of the hardware and software architecture of Mid-size robots. According to the real-time requirements of the competition, the paper designs the mechanism of omni-direction wheels, which achieves a great improvement on the traditional mechanism of two wheels robot, and a more flexible response. This mechanism can adapt well to the increasingly rapid pace of the competition. In allusion to the mechanism of omni-direction wheels, this paper designs the electrical control system of three nodes in the bottom, which could communicate fast to the laptop with serial port and match the real-time requirements well. According to the problom of hitting power and speed of robot when shooting, this paper designes a motor-driven tongue-shaped spring shooting mechanism, which has a simple mechanical structure, smaller space in size and simple control circuit. This shooting mechanism meets the real-time requirements of the competition better.

本文以RoboCup中型机器人作为研究对象，分别从机器人自身系统和多机器人协作系统两个方面进行了研究，主要研究成果如下：首先，研究了中型机器人的软硬件体系结构问题，针对实时比赛的要求，提出了万向轮机构的设计方案，大大改进了传统两轮机器人结构，动作反应更加灵活，该机构能够很好的适应节奏越来越快的比赛；针对万向轮机构，设计了3节点的底层电机控制系统，它可以通过串口与上层笔记本电脑快速通讯，能够很好的实现实时工作要求；针对机器人射门时击球力量和速度的问题，设计了一套电机驱动的舌形弹簧射门机构，机械结构简单，占用空间体积小，控制电路简单，较好的满足了比赛中实时射门的要求。

On the other hand, The study will present the real distributing inertia parameters of the biped robot on the basis of the input/output system of human mechanics behavior. Futhermore, the principle of bionic stable behavior for a biped robot will be established. It helps to realize synchronous research of both the human body and the biped robot through constructing the biped bionic control system and utilizing reasonably kinetics intervener which maintains body''s self-stability.

利用本研究提出的力平台，可以实现手写过程中动力学与运动学动态信息的获取，利用HMM和DTW算法实现手写信息的分类与解释，建立手写运动模型，证实本研究提出的实验手段和实验方法的可行性，为人体步态动力学和关节运动学信息获取积累了技术和算法基础，为本项目提出的基于人体行走步态探索人形机器人仿生自稳定机制提供研究基础。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了