机器人的

On this condition, the author analyzed the robot"s operating task and the robot"s motion path, and used cubic spline method for continuous path motion trajectories planning of surgical robot in Cartesian space.

在此基础上分析了机器人的作业任务和运动路径，采用在笛卡尔坐标中的三次样条法对机器人运动路径进行了轨迹规划，得出了无框架立体定向手术机器人专用轨迹规划器。

All of the computation and dynamic control problems of the biped robots, such as dynamic modelling, computation of ZMP, mass center and driving torques, as well as impact between the robot and ground, can be solved by using DYSISBL.

第二章从控制的角度讨论了两足机器人的综合设计问题。为使机器人能在非结构环境下实现动态行走，设计了两足机器人多级递阶控制系统。

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。

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。

Research on controlled system of apple picking robot arm;2. Main application domains are introduced which include milking, vegetable engrafting, young plant transplanting, fruit and vegetable picking , irrigating, fertilizing, crop\|dusting and unkniting ground in greenhouses and outside fields.

讨论了农业机器人的基本特征，介绍了农业机器人的主要应用领域，包括农业机器人在挤牛奶、蔬菜嫁接、苗木株苗移栽、果蔬的自动采摘、温室内和野外的灌溉、施肥及喷洒农药和野外平整土地等方面的应用，最后总结了农业机器人所涉及的部分关键技术。

To start immediately to implement this plan, made large quantities of high performances the absolutely counter-attack robot, by "tited for fat" the way eliminates these the fellows who mutinied on the Moon, stemming from this time Earth humanity regarding kind of person robot specialSensitive, this has no recourse the plan is in the situation which keeps secret extremely is formulating the implementation, besides David and the entire unification, the third person had not known.

就在病床上，大卫博士忍着余下的伤痛忧思难眠，辗转往复思来想去，最后终于想出了一个以机器人对付机器人的绝妙方案，当灵感突然显现之后，大卫博士就立刻写成了一份详细的计划报告，然后火速转交给联盟主席全统一，全统一长官看完后，不禁拍案叫绝，并马上授权大卫博士开始实施这项计划，制造大批高性能的绝对反击机器人，以&以牙还牙&的方式清除那些在月球上哗变的家伙们，出于此时地球人类对于类人机器人的特殊敏感，这个迫不得已的方案是在极为保密的情况下制定实施的，除了大卫和全统一之外，没有第三个人知道。

The first one is Vector Pursuit which is based on Screw Theory. The second one is Replicate Line Method presented by this thesis which is presented according to the skid-steering property of track-laying mobile robot and the constraint of its working environment. Thirdly, use the path tracking method proposed by Kanayama for reference to control the robot moving for the current position to the desired position with the desired velocity, so make the path tracking process more precise.

然后从运动学方面，根据机器人当前位置与目标点的位置偏差和角度偏差，采用基于螺旋理论的向量追击法，以及本文根据履带式移动机器人运动特点和工作环境特点提出了的轨迹跟踪方法，折线法，来确定机器人的期望运动；再借鉴Kanayama提出的轨迹跟踪控制方法，对机器人以期望运动速度从当前位置运动到目标点的过程进行控制，从而进一步精确了跟踪过程。

The crawler and swing arm both are driven by DC servo motor directly, the complex driving devices are eliminated, swing arm drive DC servo motor is installed in the interior of driven wheel and swing arm wheel; it ensures robot has high maneuverability and strong over-obstacle capability, at the same time it overcomes the disadvantages of traditional drive and transmission system, such as a lot of elements, complex structure and low efficiency, it reduces energy consumption, saves interior space, reduces overall weight, increases the work reliability and running stability of robot and provides new design programs and new technology channels for small-sized crawler ground movable robot drive device.

机器人的履带和摆臂均由直流伺服电机直接驱动，省去了复杂的传动机构，摆臂驱动直流伺服电机则安装在从动轮和摆臂轮内部，在保证机器人具有高机动性和强越障力的同时，克服了传统驱动、传动系统零件众多、结构复杂、效率低下的缺点，降低了系统能耗，节省了内部空间，减轻了整体重量，提高了机器人的工作可靠性和行驶稳定性，为小型履带式地面移动机器人驱动装置提供了新的设计方案和新的技术途径。

The omni-vision system for RoboCup middle-size league soccer robot-NuBot and its method for object recognition are introduced firstly in the paper,and then a simple front vision system is used to improve the accuracy of recognition of the ball in front,and meantime an easy and effective calibration method for front vision system is presented,and finally the realization mechanism for the two vision systems working together is introduced,in which the processing speed of robot's object recognition can be accel...

为了快速正确地进行机器人的目标识别，首先介绍了RoboCup中型组足球机器人NuBot使用的全向视觉系统及其目标识别方法；然后通过引入一套简单的前向视觉系统来弥补全向视觉的不足，以提高机器人对其前方目标球的感知识别精度，同时给出了一种简单有效的前向视觉系统标定方法；最后介绍两套视觉系统共同工作的实现机制，以提高机器人的目标识别处理速度。

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