机器人

Analyzing the kinematics problem of the YJP-1 vision-servo redundant robot, the kinematics equation of the single arm has been established, the Jacobian matrix of front four joint has been formed using a new method.

对YJP-1型冗余度机器人进行了运动学分析。用D-H方法建立了YJP-1型冗余度机器人单臂的运动学方程。运用一种新的方法建立了YJP-1型机器人前面四个决定末端抓手位置的自由度的Jacobian矩阵。

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。

The system has a friendly human machine interface, which includes multiple video zone, control zone and simulation zone. The operator's sensing and understanding of the current situation of the EOD operation scene were enhanced. Furthermore, by building robot model, environment model and bomb model and using C-space method and heuristic searching technology the function was developed that the EOD robot could fetch the bomb semi-automatically, which greatly improved its operating performance, improved the operation security and efficiency and decreased the mental pressure of the operator.

该系统拥有友好的人机界面，包括多视频区域、控制区域和仿真区域，在能够增强操作者感知和理解排爆现场状况的基础上，更通过建立机器人模型、环境模型和爆炸物模型，运用C空间方法和启发式搜索技术，开发了排爆机器人对爆炸物的半自主抓取功能，提高了操作安全性能和工作效率，降低了操作人员紧张程度，大幅度提高了排爆机器人的操作性能。

In this paper, the importance of agricultural robots in farming modernization and many kinds of mobile platform sere introduced in brief. Current research situation was also summarized. Finally, the development tendency of this field was introduced.

简要介绍了农业机器人在农业信息化智能化中的重要地位以及机器人移动机构的类型，综述了当今农业机器人移动平台的研究现状，展望了今后这一领域的发展趋势。

The Shadow Robot company's dextrous hand robot, performs a task at the Streetwise Robots event held at the Science Museum's Dana Center on May 6, 2008 in London, England.

影机器人公司的机器人灵巧手，执行一个机器人在标点符号用法举行的2008年5月6日在科学馆达纳中心在英国伦敦事件的任务。

Through the interface software, the Pro/E model of the robot is transmitted into the software ADAMS. After that the tyre file and road spectrum are written, the robot ADAMS model is established, the robot trafficability and ride comfort are simulated, and the simulation analysis of the insert mechanism and the shear mechanism is carried out.

把草方格机器人的Pro／E模型通过接口软件导入功能强大的多体系统动力学分析软件ADAMS，编写了轮胎文件和地面文件，建立了草方格机器人的ADAMS模型，进行了机器人的平顺性、通过性以及剪切机构和插草机构的仿真分析。

Based on the experiments of physical properties of desert sand,the driving force of running desert wheeled cross-country vehicle were obtained by calculating force between tire and sand.The experiments about pressuring grass resistance of lengthways lay out grass mechanism were done.According to the vehicle terramechanics theory,desert trafficability of straw-checkerboard sand barriers paving robot was analyzed.

本文在测试沙土物理特性和选择沙漠车的基础上，依据车辆地面力学理论，通过分析、实验和计算草方格铺设机器人的行驶阻力以及牵引车的牵引力，讨论防风固沙草方格铺设机器人在沙漠中的通过性。1沙土特性与牵引车参数1.1沙土的物理特性该机器人是通过轮胎与地面的相互作用力推动其前进。

For existing problems in robot planning, disadvantages and difficulties in self-organization NN applied to robot track planning, and the features in self-organization rival network, a theory model of the TSPSONN is provided in order to resolve some problems producing easily fuzzy or uncertainness of track reconstruction Consequently, theory evidence and applied basis are offered for complicated track control of telerobot control system.

针对机器人轨迹规划中存在的问题，以及目前用于机器人轨迹规划的自组织神经网络存在的缺陷和困难，并结合自组织竞争网络的特点，提出一个自组织神经元网络时序处理算法的理论模型，用来解决具有重复／共享状态易于产生轨迹重构时的模糊性或不确定性问题，从而为网络远程机器人控制系统进行复杂的轨迹控制提供了理论依据和应用基础。

Hence, a self-balancing controller is implemented by considering the motion as well as configuration variation of the upper body (the 9-DOF mechanism). The control law utilizes the principle of computed torque method with online identification of related parameters using various sensors including an accelerometer. The incline angle is obtained by fusing a gyroscope and a tilt sensor. Under the balancing control, the forward motion of the robot is achieved by giving a desired tilt angle profile.

除此之外，本作品将此机器人装置在一具二轮式自动平衡移动平台之上，它提供了机器人灵活移动和转身的能力，但碍於此一平台本身为不稳定系统，所以必须实现一自动平衡演算法去计算底座以及上半身机器人动作行为的转动力矩，利用计算转矩法以及陀螺仪、倾斜仪和加速规去即时更新系统参数，让整个系统可以即时地保持平衡，并且利用设计角度值的概念让整个系统移动。

In this paper, a path planning method based on GA is presented. Firstly, the model of the space robot is built to display the mapping of the end velocity and the joint velocity. Then the optimal algorithm based on genetic algorithm is presented to search the optimal solution which minimizes the disturbance of base attitude in the feasible solution space. Finally, an illustrative example is used to verify the feasibility of the algorithm.

基于GA研究机械臂运动对基座的姿态扰动问题，首先，建立空间机器人的运动学模型及空间机器人末端与关节速度之间的映射关系；接着，应用GA作为最优化算法，在空间机器人可行解空间中，寻找最优解得到最优路径，以达到对基座姿态干扰最小的目的；最后，通过数值仿真实验验证算法的实用性。

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。