机器人的

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

A group of students of robotics setup a football robot on June 30, 2009 on the eve of the "RoboCup" the world largest robotic event, in Graz, Austria.

一组学生的机器人足球机器人安装上2009年6月30号的前夕，"机器人"世界上最大的机器人赛事，在奥地利格拉茨。

With the macro motion mode, the robot is a typical wheeled mobile robot and with the micro motion mode the robot is an inchworm robot.

机器人在宏运动状态下为典型的轮式机器人，在微运动状态下为尺蠖运动机器人。

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。

Lead Rigger Mark Piretti explains: the modelers and designers put together a number of different robot types, like the biwheel bot, the uniwheel bot, and the multiped bot.

传索装配员小组组长Mark Piretti解释说：塑模员和设计员把一些不同类型的机器人放在了一起，如双轮机器人，单轮机器人，多足机器人。

Technical committees: Leonard Vong, Brian Thomas, Johannes Klotz, Saeed Atef Saeed,Note: Changes from 2006 rules are highlighted in red.

如果机器人自己翻身倒地，将被视为损坏的机器人并移离赛场；如因与另一个机器人碰撞导致翻身倒地，由裁判扶正并继续

Therefore, as I learn widely about ground robots, underground robots and group robots, I will be supervised capably on my area of infrastructure-free mobile robots.

因此，我学习了广泛的地面机器人，地下机器人，机器人组，我会监督得力，我区的基础设施，自由移动的机器人。

Therefore, as I learn widely about ground robots, underground robots and group robots, I will be supervised capably on my area of infrastructure-free mobile robots

因此，我学习了广泛的地面机器人，地下机器人，机器人组，我会监督得力于我国基础设施领域进行自由移动机器人

The robot is tipped over after a collision with another robot, it can be righted by the referee and

如果机器人自己翻身倒地，将被视为损坏的机器人并移赛场；如因与另一个机器人碰撞

The robot moves along a line under the circumstance that it aims at the goal in a small angle and there is no obstacle just before it. Otherwise, it moves toward the best subgoal along a round curve.

若机器人航向在一个规定的小角度范围内对准目标且机器人正前方无障碍物，机器人作直线运动；其他情况下，机器人以圆弧接近最佳亚目标。

But we don't care about Battlegrounds.

但我们并不在乎沙场中的显露。

Ah! don't mention it, the butcher's shop is a horror.

啊！不用提了。提到肉，真是糟透了。