查询词典 robot control system

Convert relationship of prototype robot joint angle and equivalent model joint angle is presented based on the method of kinematics inverse solution. The Jacobian algorithm of redundant robot for achieving effective joint excursion is studied, which is fit for digital calculating. The grads projection algorithm of redundant robot multi optimizing capability function's proportion factor is deduced. The issues of apery arm robot singularity and joint self-movement are researched. The simulation experiment result of apery arm joint self-movement and line movement is presented.

因为七自由度拟人手臂机器人的建模比较困难，采用了在等效模型下求解其运动学逆解的方法，给出了原机器人机构关节角与等效模型关节角之间的转换关系；提出了一种适于数值计算的有效的求解有关节偏置的冗余度机器人Jacobian的算法，并在此基础上推导了冗余度机器人多优化性能指标函数的均衡比例因子梯度投影算法；研究了拟人手臂机器人的奇异问题和关节自运动问题；给出了拟人手臂进行关节自运动和进行直线轨迹跟踪的仿真实验结果。

In this paper,a humanoid robot hand with five fingers and a palm（robot hand is called below for short） is designed.Based on the robot hand,the mathematical teaching model is studied,which takes the data glove as the input resource for the robot hand.

设计和实现了一个具有五个手指和手掌的仿人机械手，并利用数据手套对其进行了示教，使其能有效地完成复杂的作业。

With the macro motion mode, the robot is a typical wheeled mobile robot and with the micro motion mode the robot is an inchworm robot.

机器人在宏运动状态下为典型的轮式机器人，在微运动状态下为尺蠖运动机器人。

Afterwards, we propose a new constant coefficients measurement method in dynamic equation of robot manipulators, this measurement method includes three groups of experiments: group one, let each joint of robot manipulator keep static to measure the constant coefficients in gravity term of dynamic equation and Coulomb frictional torque, group two: let only one joint of robot manipulator move at a constant velocity to measure the viscous frictional coefficient and constant coefficients in effective inertia of dynamic equation, group three: let only one joint of robot manipulator move at constant acceleration at a time to measure constant coefficients in Coriolis and centrifugal term and coupling inertia of dynamic equation.

让操作器单个关节恒速运动，在对驱动系统中传动机构，减速装置和电感系数综合考虑的基础上，这组实验对粘滞摩擦系数及有效惯量中常数系数进行测量。这种测量方法只要求旋转关节的驱动电机施加恒定电压，回转关节驱动电机施加正弦波电压。3。让操作器单个关节恒加速运动，这组实验测量动力学方程中哥氏力、离心力项和耦合惯量项中的常数系数，这种测量方法只要求单个关节匀加速运动，而其它各关节保持静止，这种测量方法虽然要求关节匀加速运动，但不必进行关节角加速度检测，而只需进行关节角位移和角速度检测即可，输入量直接给定为输入电压。

A centroid adjustment method is presented which can maintain the horizontal pose robot body when one arm is hung on the overhead ground lines. The balance weight is moved by the servo motor according to the angle of inclination between the inspection robot body and the horizontal plane, which can be checked by the obliquitous sensor, so that the centroid position of inspection robot is concentrated on the arm that is hung on the overhead ground lines. Because the body of inspection robot is kept in horizontal pose, the other arm can accomplish corresponding task for attaching to or detaching from the overhead ground lines.

本文提出了一种质心调节方法，利用倾角传感器测量机器人车体与水平面之间的倾角，从而控制配重块移动电机的运动，将机器人的质心调节到悬挂于架空地线上的那只手臂上，因此能保证机器人车体保持水平姿态，确保需要脱线或上线的手臂完成相应的动作。

In the process, a still robot is regarded as a beacon, while a moving robot driving itself toward it with infrared sensors for localization and completes the docking process. Two infrared sensors on top of the front-end attachment of the moving robot are rotated by two stepper motors and the infrared ray emitted are reflected respectively by the two reflectors on top of the back-end attachment of the beacon robot.

在该方法中，设定一个静止的信标机器人，移动机器人利用红外传感器定位，安装在移动机器人前端连接件上的两个红外传感器分别在步进电机的驱动下旋转，它们发出的红外光分别被信标机器人后端连接件上的两个反射体反射回来。

It takes a cylindrical NdFeB multipole permanent magnet composed of several neighboring tegular magnets magnetized anisotropically along radial direction as exterior actuator, and a magnet with the same structure embedded inside the robot body as the inner actuator. The robot screws forward inside pipe under the action between spiral rib on the exterior surface of robot body and fluid dynamic pressure when robot rotates by magnetic torque, which is generated by magneto-mechanical coupling from rotating exterior actuator to inner one.

它以相邻径向异向磁化瓦状多磁极圆筒形NdFeB永磁体为外驱动器，以机器人内嵌同结构的NdFeB永磁体为内驱动器，外驱动器旋转时产生旋转磁场，通过磁机耦合作用于内嵌驱动器形成机器人驱动力矩，在本体外表面螺纹与流体动压力的作用下，实现机器人在管道内的在线旋进。

This paper focuses on designing the intelligent robot of circumambulate by studying the ZiGuang fundamental platform of robot development、Freescale MC9S08GB60 MCU and the intelligent robot of circumambulate. The robot chooses the sensor as the carrier of identify of the path and judge the circuitry by sensor.

本文通过学习紫光智能机器人软件开发平台和机器人主控芯片Freescale 的MC9S08GB60 MCU，以及巡线机器人的基础知识，选择灰度传感器作为路径识别载体，并利用灰度传感器进行线路判别实现机器人的按轨迹自动前进。

Before its solid hybrid area senior official jumbles together has not come, bitter experience disastrous defeat black area senior official black Germany graceful accepts the kind of person robot to make the expert suggestion, spheres them, lets they own consume gradually, because the kind of person robot and the humanity are same, needs to supplement own energy can continue to revolve, likely the humanity eats meal is same, only different is the kind of person robot needs the regular supplement electrical energy, but regarding the Moon on, the electrical energy basically depends on the solar cell board electricity generation or the nuclear power generator, so long as therefore lets the kind of person robot electrical energy military supplies appear seriously short, can urge their collective to break through or to come out the surrender.

其实在混血区长官混为一谈没来之前，遭遇惨败的黑区长官黑德曼就采纳了类人机器人制造专家们的建议，就是围住它们，让它们渐渐地自己消耗掉，因为类人机器人和人类一样，需要补充自身能量才能继续运转，就像人类吃饭一样，唯一不同的是类人机器人需要定期补充电能，而对于月球上来说，电能基本上靠太阳能电池板发电或核动力发电机，因此只要让类人机器人电能补给出现严重短缺，就会促使它们集体突围或出来投降。

When read more different study word the snake like robot joint is designed. In this word ADAMS software were used to simulate snake like robot motion on the ground. After input different signal the snake like robot can motion with different shape, when compared with biology snake, get the snake like robot can exhibition the strongpoint of the biology snake.

本文参考相关技术文献并结合自身特点设计了蛇形机器人关节模块的机械结构，并引入了多体动力学仿真软件ADAMS 对蛇形机器人关节模块进行运动状态仿真，模拟出不同输入信号下的运动状态，再与生物蛇的运动状态比较，得出蛇形机器人关节模块组合后能够发挥出生物蛇的运动优点。

Summary In copyright infringement cases,if the alleged infringer uses or even plagiarizes the copyrighted works or parts thereof,which causes no substantially adverse effect on the normal exploitation of the work,nor does it inflict any substantial damages to the right owner,the de minis doctrine should be applied to exempt the liabilities of the defendant and seek the balance of interests between the right owner and the general public embodied by the copyright law.

在侵犯著作权案件中，如果被控侵权行为人虽未经著作权人的同意，使用甚至抄袭了受著作权保护的作品或作品的片段，但若情节轻微，未对该作品的正常使用产生任何实质不利的影响，亦未对权利人的权利造成实质性的损害，则应适用&不计琐细原则&，免除行为人的责任，以寻求在权利人利益与著作权法所体现的社会公共利益之间的平衡。

This new product will become our best seller.

这个新产品会成为我们最畅销的产品。