机器人

Based on the kinematic characteristics analysis of 3 degrees of freedom mobile robot with two drivable and steerable wheels and automatic driving experiences of experts, four sub-fuzzy tracking controllers are designed which realizes independent control of position between orientation of mobile robots to satisfy the desire posture requirements with the simplified fuzzy logic inference and shortened computing time simultaneously.

在平面目标跟踪过程中，将移动机器人跟踪的目标期望位姿分解为4种位置和方位组合，在分析总结了具有2个可操舵驱动轮的3自由度移动机器人运动特性的基础上，根据自动驾驶控制的专家经验知识，针对4种位姿的要求设计了4个子模糊跟踪控制器，这样大大简化了模糊逻辑推理过程，并减少了计算时间，实现了位置和方位的独立跟踪控制，同时满足了跟踪目标的位姿要求。

In order to let the moving robot be able to keep stability in the course of motion , a method for matching the path of robotic motion by the use of cubic spline curve under the environment of duad tree modeling was put forward .

为了使移动机器人在运行过程中能够保持平稳，在四叉树建模环境下，提出用三次样条曲线拟合机器人运动路线的方法。

Behavior-based mobile robot control tightly couples sensory inputs and effecter outputs, to allow the robot to quickly respond to changing and unstructured environments by a simple structure and has a good performance in the character of real time.However, the learning process of behavior-based mobile robot is a kind of designing learning, not a self-learning.

基于行为的移动机器人通过传感器输入和执行器输出信号的方法相互作用，产生各种&刺激-应激&行为，从而使得机器人能够利用简单的结构在变化的，无组织的环境中产生快速响应，实时性好。

To address the joint flexibility and get some insights to flexile joint robot control, we studied the filtered velocity algorithm scheme for ASM manipulator using its flexible model with assumption that all mass and links are known.

为深入研究柔性关节机器人的控制方法，本文为ASM并联机器人建立了柔性关节模型，并假设模型参数已知，然后为其设计了速度滤波方案进行轨迹跟踪控制。

In the robot soccer competition, the ball s moving status is always changing and fluky because of the shoving and friction. In most cases, it is very difficult to find a global optimal shooting path, or the planning path can not be achieved by the robot in time.

机器人足球比赛中，小球的运动状态因受到碰撞和摩擦变化剧烈，所以大多数情况下不存在全局意义上的最佳射门路径，或者规划的路径机器人在给定的时间内根本无法完成。

The control strategy was simulated in MATLAB environment,and the results proved the tracking trajectory of three kinds of gaiting,i.e.walking on road,upstairs and downstairs had fine kinetic charact...

仿真结果表明，平地行走、上楼梯和下楼梯3种步态轨迹的跟踪曲线均具有良好的运行特性；控制器适应了速度、负载变化的影响，满足机器人对不同路况模拟的各项要求。该研究为步态训练机器人对不同路况的进一步模拟研究奠定了基础。

The rapid development of standard modules and modular robots is introduced. According to the characteristics of the conceptual design of modular robots and mechanism of case-based reasoning in AI, a new methodology and CAD system, and a top-down case-based reasoning flow are s ug gested.

论文中介绍了近年来发展迅速的模块机器人的标准模块和基本拓扑关系，根据模块机器人概念化设计的特征，结合人工智能应用中基于事例的推理机制，提出了面向任务和基于事例的计算机辅助设计方法和应用软件的框架，以及实现自上而下的计算机推理的流程。

Discuss how to solve grabbling target, location-tracking and avoiding obstacle for robot navigation and give the vision control structure.

本文还对移动机器人导航中的目标搜索、全局定位、避障等问题进行了分析，并提出了移动机器人视觉伺服结构。

This paper introduced the computer control system of a five degree of freedom Teach-Robot under the circumstance of Borland C++Builder5.0, including serial communication between PC and hypogenous microcomputers, the kinematics analyses and computer simulation.

本文主要介绍了基于Borland C++Builder5.0环境下的一种五自由度教学机器人的计算机控制系统软件的开发过程。包括计算机和下位单片机之间的串口通信、机器人运动学分析和运动学仿真。

The joint driving torque is controlled with the impendence control method based on Lagrange dynamic equation of the robot.

六、提出了对机器人前向跑步速度控制和对机器人关节驱动力矩控制的控制策略。

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。