机器人

By using the Lie group theory of differential geometry and Pontryagin's maximum principle, it is pointed out that the mobile CRS robot on surface is controllable, and the necessary conditions and the structure equations of extremal trajectories are proposed.

为了解决曲面上移动CRS机器人的路径规划问题，在曲面上建立了机器人的动态模型，利用微分几何的李群理论和庞特里亚金最大值原理，证明了曲面上CRS机器人是可控的，并给出了机器人的最小时间控制的必要条件和结构方程。

Lead Rigger Mark Piretti explains: the modelers and designers put together a number of different robot types, like the biwheel bot, the uniwheel bot, and the multiped bot.

传索装配员小组组长Mark Piretti解释说：塑模员和设计员把一些不同类型的机器人放在了一起，如双轮机器人，单轮机器人，多足机器人。

ABSTRACT In this dissertation, fault-tolerance of redundant manipulators is thoroughly investigated. First, inherent relationship between the dexterity and fault-tolerance of single-redundancy manipulator is discussed. Both the manipulability and the relative manipulability are utilized for measuring the kinematic fault-tolerance of the manipulator with one joint failure. Furthermore, the relative manipulability is used for measuring dexterity loss resulted by one joint failure, and the relationship between the fault-tolerance measurement and null space vector of Jacobian matrix is established.

本文对冗余自由度机器人的答错性问题进行了深入的分析和迭付：首先研究了单冗余度机器人运动学灵活性与容错性之间的内在关系，提出以故障构形的可操作度和相对可操作度来度量机器人的运动学容错性，用相对可操作度来度量关节故障给机器人操作灵巧性造成的损失，并建立了容错性度量指标与Jacobian矩阵零空间向量之间的关系。

Combining with the characteristics of the programming by demonstration and off-line processing, the method makes use of the demonstration function based on the off-line programming, which will enhance the maneuverability and vividness of the robot programming.

随着机器人应用数量的增多，机器人工作任务的编程就成为一个重要的问题，机器人系统的编程能力在很大程度上决定了机器人实用功能的灵活性和智能化程度[1 ] 。

In the project of micro pedrail mobile robot, monocular vision can not satisfy the requirement of visual navigation and monocular vision s visual field is obviously smaller than binocular vision.

在微小型履带式移动机器人项目中，单目视觉不能满足机器人的视觉导航需要，并且单目视觉机器人的视野范围明显小于双目视觉机器人的视野。

By using the Li e group theory of differential geometry and Pontryagin's maximum principle, it is pointed out that the mobile CRS robot on surface is controllable, and the nec essary conditions and the structure equations of extremal trajectories are propo sed.

为了解决曲面上移动CRS机器人的路径规划问题，在曲面上建立了机器人的动态模型，利用微分几何的李群理论和庞特里亚金最大值原理，证明了曲面上CRS机器人是可控的，并给出了机器人的最小时间控制的必要条件和结构方程。

The line-tracking system and obstacle-avoiding system use the infrared photoelectric sensors to realize intelligent walking. The LED display system which through control the input and output of 74HC595's data, shows the prearrange face at 24×24LED matrix. Then, simulate the brow change by changing picture to get the function of changing faces.

机器人运动过程中，采用PWM技术和开环系统控制无刷直流电机的运行，实现机器人的行走控制；机器人的寻线及避障系统采用红外光电传感器，实现机器人的智能行走；LED显示系统中，通过编写程序实现对74HC595的数据输入输出控制，在24×24LED点阵上显示预置的面部表情，通过画面切换模拟人物表情变化，实现变脸功能。

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。

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。

In order to research the overall dynamic performance of the robot,firstly,a overall structural design of the robot is carried out,and a 3D model of the 5-Dof robot is established in the Pro/E environment,then a three dimensional dynamic simulation research of the kinematics and dynamics is carried out using the ADAMS software,finally the rationality of the system design is discussed as well as the significance in the practical application according to the output results,which have been measured in the simul...

为了研究机器人的总体动态性能，首先进行了机器人的总体结构设计，并在 Pro/E环境下建立了五自由度机器人3D机械装配模型，运用ADAMS软件对其进行了运动动力学的三维动态仿真研究，最后根据测量输出结果讨论了系统设计的合理性以及在实际应用中的意义。对机器人的后续研究，这些研究成果具有一定的参考价值。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。