机器人的

In this paper, the theory studies, digital simulation and microcomputer control experiments to a robot have proved that the AFDC system of robot has signally effective intelligent dynamic control functions and makes robot to have excellent dynamic response performances and motion accurary by measuring only input and output of the robot, and that the system structure and control algorithm is more simple, reliable, and more easy to be used on common microcomputer then another high-level dynamic control systems of robot.

文章在理论研究、仿真控制和机器人的微机控制试验方面的研究工作表明，文中提出的机器人自适应模糊动态控制系统既具有显著有效的智能动态控制功能。能在仅测量输入-输出信息条件下，保持机器人取得优秀的响应性能和运动精度；又在结构和算法上比一般的高级机器人动态控制系统更简洁、可靠和易于在普通微机上实时在线实现。

This paper research some problem of the tracked mobile robot' s path planning and tracking. There are some points as follows: 1 Introduce the airmanship technology and presently research situation in path planning and path tracking of the mobile robot, introduce the robot' s sensor system, analyze kinematics character of the tracked mobile robot.

本文就履带式移动机器人路径规划和路径跟踪的一些问题开展了如下工作： 1、介绍了移动机器人的导航技术和目前路径规划和路径跟踪的研究状况，介绍了机器人的传感器系统，并分析了履带式移动机器人的运动学特征。

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。

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。

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。

In view of the key problem of subminiature underwater robots, structural improving,control algorithm and underwater experiment is studied. They can be described as follow: Firstly, the subminiature underwater robot should be compact in size and low cost, for which, it is difficult for us to control its balance. So that, a new kind of piston--style ups and downs system was invented, which can keep the underwater robot horizontally suspended in the water without driving force.

中文摘要本文针对超小型水下机器人在运动中存在的问题，设计了一种新的超小型水下机器人的沉浮结构形式，着重研究了其运动学动力学性能、探讨了相应控制算法、进行了水下试验，具体研究内容如下：首先，超小型水下机器人由于体积小重量轻，在水中沉浮时悬停平衡控制困难，为此进行了一种新的活塞式沉浮系统设计，该系统使水下机器人能够在无动力驱动的情况下，使其呈水平状态稳定悬浮在水中。

First,a maximal encasing box and relative velocity between obstacles and the robot are used to analyze the orientation of collision.

通过分析障碍物最大包围盒在机器人坐标系的位置以及其相对于机器人的速度，得到障碍物与机器人可能发生碰撞的方位，然后使用基于速度改变最小原则和速度改变最佳原则的第一和第二避障策略来完成机器人的动态避障。

The robot saves motion time and its move speed is higher than that of general crawling inside pipe line robots This thesis analyzes the pass ability of robots in bent tube and three-limb tube. and give the maximum volume of cylinders and cuboids.

本文分析了机器人在弯管和三通管内的通过能力，给出了圆柱体和长方体在三通管内转弯时的最大体积，当机器人的长度确定以后，可以计算出允许通过三通管的机器人最大截面尺寸，为可以通过三通管的机器人设计打下了基础。

But the vague idea of robots in our heads was cooler than the "reality" had ever been, when we started to draw them, or even look at the pop culture history of robots, the only robot that was really interesting to look at was the robot from [Frits Lang's seminal 1926 futuristic film] Metropolis.

但是当我们开始把这些画成图画时，我们脑子里的机器人这个模糊概念就变成比现实生活中的机器人更有意思了。当我们回顾关于机器人的故事时，唯一真值得一看的机器人是1926年由福利斯。兰果的科幻片'大都会'。

A six-wheeled space exploration robot with active configuration function is proposed.

建立了轮式星体探测机器人的抗倾覆性评价模型，对六轮摇臂星体探测机器人和双曲柄滑块探测机器人的抗倾覆性进行分析和比较，提出一种提高自适应悬架机器人移动性能的措施和方法，实现了一种可主动配置的六轮摇臂星体探测机器人。

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。