机器人

In this paper, based on the characteristics of robot visual servo system, a real-time image processing system based on TMS320C6201 is introduced, and the principle for robot visual servo system based on image Jacobian matrix is analyzed.

本文针对机器人视觉伺服系统要求快速准确的特点，设计了基于TMS320C6201的机器人视觉图像处理系统，并分析了基于图像雅可比矩阵的机器人视觉伺服方法的基本原理。

Automatic Carrier Robot in the front and a Manual Carrier Robot in the rear shallcooperate to carry an automatic Traveller Robot in a Kago to the goal with the aim ofcompleting the journey before the other team.

一个自主搬运机器人在前，一个手动搬运机器人在后，他们合作来搬运坐在轿子中的自主旅行机器人以抢在对手之前完成旅行。

The Manual Carrier Robot may touch the Traveller Robot when the Traveller Robot alights from the Kago.

5.6.4。当旅行机器人下轿时，手动机器人可接触旅行机器人。

Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

Analysis on the configuration and locomotion modes shows that this mechanism has a small volume and good motion performance.

1引言爬壁机器人在机器人领域中作为一种特殊的移动机器人受到越来越多的重视。

Microassembly robot is the combination of robotic assembly and micromanipulation, it has become one of the research hotspots in robotic field.

微装配机器人是结合微操作技术和机器人装配理论的产物，是目前微装配与微操作技术及机器人领域的一个研究热点。

This is Robot Milking Machine and the first one in China. It provides 24 hours service for cows with no human labor at all. It can only milk one cow at once , so it fits the small farm with 100 cows at maximum. Here cows can be milked whenever they will and according to the set procedures from udder cleaning , massage to milking with music to enjoy.

现在我们看到的是机器人挤奶机，这是目前中国第一台智能化的挤奶机器人，它可以24小时为奶牛提供服务，完全智能化，不需要工作人员，但是每次只能给一头牛挤奶，所以它适合于100头牛的小牧场，在这里，奶牛24小时想什么时候挤奶就什么时候挤，想挤几次就挤几次，每次机器人都按照：清洗乳房、按摩乳房、挤奶等程序办事，而且还有音乐伴奏，让奶牛在快乐的环境中挤奶。

The contribution of this thesis is the development of intelligent control techniques on multi-mobile robotics system including nonholonomic constraint control, robust machine vision, image-based visual servo and evolutionary learning of robot trajectory, which are realized by a prototype system for multi-robots cooperation and competition.

本文针对轮式移动机器人系统的智能控制问题，对其运动控制、机器人视觉、视觉伺服、路径规划、进化学习等理论和方法进行了研究，并开发出多机器人智能控制系统的软件与硬件平台。

Using Matlab and its Add-ons Simulink, through establishing simulation maths model, the paper integrates open chain vector equation, numerical value simulation (computing velocity and displacement while given acceleration) and matrix algebra, etc.

利用MATLAB及其附加软件Simulink，通过建立仿真数学模型，综合开环矢量方程、数值仿真(在加速度已知时计算速度和位移)、以及矩阵代数等来完成机器人动态仿真，对所研究的机器人运动学分析结果进行验证，结果基本一致，为机器人的后续研究，如动力学，控制等奠定基础。

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。

Do you know, i need you to come back

你知道吗，我需要你回来

Yang yinshu、Wang xiangsheng、Li decang,The first discovery of haemaphysalis conicinna.

1〕 杨银书，王祥生，李德昌。安徽省首次发现嗜群血蜱。