机器人的

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。

Japanese robotic scientists set up their service robot "Eraser" on June 30, 2009 on the eve of the "RoboCup," the world's largest robotic event, hosting 408 teams with 2,300 scientists and students, in Graz, Austria.

日本机器人的科学家建立了服务机器人"橡皮擦"关于2009年6月30号的前夕，"机器人"，是世界上最大的机器人赛事，主办408队2300的科学家和学生，在奥地利格拉茨。

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。

ABSTRACT The concept of metamorphic and mobile robot is based on the successful study of NATION 863 ITEM which is shotcrete scrobot and NATION NATURE SCIENCE FUND that is the snake-robot with pedrail around it in the robot center of Shandong Science University.

变形移动机器人的概念，是山东科技大学机器人研究中心在成功地完成了国家863项目"喷浆机器人"和国家自然科学基金"四周履带式蛇形机器人"的研究的基础上提出的，是一种对"移动机器人"的概念创新和结构创新。

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。

This dissertation introduces the history, key technology, current status of nation and internation ,and the importance of MiroSot ; describes function theory and constitutes of MiroSot resumptively firstly ; then introduces machine structure in detail including the characters and choice of electromotor and the design and facture of hull; stresses on control circuit of soccer robot including the choice of control circuit and DSPs, basic circuit of soccer robot and control algorithmic of soccer robot.a new design based on DSPs is made; lucubrate radio communication subsystem including the origin of yawp and controlled method in radio communication finally, and a emitter is made, and hard base has gained to upbuild experiment bed of MAS.

本论文首先简要地介绍了机器人足球比赛的发展历程、所涉及的关键技术和研究意义，概括地描述了MiroSot系统的构成；然后系统地研究了足球机器人机械结构的设计、电动机的选择、壳体的设计等，重点研究了MiroSot足球机器人的控制电路，包括DSPs芯片的选择、足球机器人硬件电路的设计和控制算法的编写，在此基础上研制了基于DSPs的足球机器人；最后深入研究了无线通讯子系统，包括无线通讯干扰噪声的来源及其抑制方法，无线发射器软、硬件的设计和制作，为全面建立多智能体系统实验平台奠定了基础。

Kinematics and dynamics modeling and analyzing method of a 3-RRRT parallel robot was studied. Kinematic model of the 3-RRRT parallel robot was set up with both the branch bar's relative coordinates and movable platform's absolute coordinates used as it's generalized coordinates. On the base of Kane's equation, dynamics model of the 3-RRRT parallel robot was built. Dynamic Numerical simulation of the 3-RRRT parallel robot was finished by using Matlab software, and so it provides valuable reference for motion control strategy of the 3-RRRT parallel robot.

研究一种3-RRRT新型高速搬运机器人运动学与动力学建模及分析方法，以支链构件相对运动坐标和动平台绝对运动坐标作为广义坐标，建立了3-RRRT型并联机器人的运动学模型，结合带乘子的凯恩方程建立了3-RRRT型并联机器人的动力学模型，并利用Matlab软件平台进行了动力学数值仿真，进而为3-RRRT型并联机器人的控制策略研究提供参考。

The pedrails moving system are chosen as the moving mechanical of the climbing robot for pressure vessel.

本文设计的压力容器检测爬壁机器人采用履带式移动机构，双履带构成爬壁机器人的基本框架；采用永磁吸附方式，将永磁片贴在履带的外表面，可提供足够大的吸附力，结构简单；采用前轮驱动，两个驱动轮分别由电机驱动，当两电动机转速一致时，机器人沿直线行走，当两电动机差速时，可实现爬壁机器人整体转弯。

Magnet, which can offer adsorbability enough to keep the robot working on the vertical walls, is kept close to the outside surface of the pedrails. Front-wheel driving is adopted as the driving system and the two front-wheel are drived by two elctromotors, respectively. When the two motors are running with the same direction, the robot walks straightly. When the two motors are running with the contrary velocity, the robot can swerve.

本文设计的压力容器检测爬壁机器人采用履带式移动机构，双履带构成爬壁机器人的基本框架；采用永磁吸附方式，将永磁片贴在履带的外表面，可提供足够大的吸附力，结构简单；采用前轮驱动，两个驱动轮分别由电机驱动，当两电动机转速一致时，机器人沿直线行走，当两电动机差速时，可实现爬壁机器人整体转弯。

In this thesis, an attempt at considering the flexible joint as non-linear torsion spring has been made.

首先，建立了刚性杆非线性关节机器人的动力学模型，之后通过一平面3R机器人进行了数值仿真，说明了在一定情况下，关节的非线性对刚性杆机器人关节变形和末端误差具有重要影响，并在此基础上，讨论了关节线性项、杆的集中质量和关节驱动加速度对机器人关节非线性特性的影响。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了