机器人的

The system can display in 3D the robots with higher quality graphics on PC by adopting the solid model technology, and modify the model of robots according to the size given by users, so that the parametric modeling is realized under interactive mode. It realizes the graphics simulation of robots in kinematics in both articulatory space and Cartesian space, and it also realizes the animated simulation of trajectory of linear interpolation in point-to-point mode.

该系统采用实体造型，能在微机上显示较高质量的机器人的三维图形，可以按照用户给出的尺寸修改模型，在交互方式下，实现机器人的参数化造型；系统能够在关节空间和笛卡尔空间中进行运动学的图形仿真，能进行点到点直线插补轨迹的动画显示，机器人的动作可以示教再现，也可以由程序设定。

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。

With the development of sciences and the widening of human being activities, robots play more and more important roles in productiveness and research. As the main technology of the robot, route planning and motion control have such an important place that studies on them mean more in theory and actuality than we can say.

随着科技的进步和人类活动领域的拓宽，机器人必将在人类生产研究中扮演着越来越重要的角色，作为机器人技术中的核心技术之一，路径规划和控制算法在机器人的研究中有着举足轻重的作用，对它门进行全面系统的研究具有特别重要的理论意义和现实意义。

Fifthly, by adopt new matrix coordinate system means, found a tricycle WMR"s kinematic model, especially the investigation in the kinematically modeling of steered wheel and non-steered wheel. At the same time, the dynamic modeling of robot"s playing football motion, consummate mobile robots system.

第五，采用新型的矩阵坐标系方法，建立了三轮式机器人的动力学模型，尤其是在导向轮和非导向轮的动力学建模方面进行了深入的研究；同时，对机器人踢足球的运动进行动态建模，进一步完善了移动机器人体系。

When the hybrid region senior official jumbles together with black area senior official black Germany is graceful, ended after the conference with great speed rushes together, some several hundred starship is already shot down, but this kind of bombing, has truly seriously disturbed the kind of person robot flight vehicle construction speed, however this time kind of person robot used in the Moon crater base the massive residues already to make several hundred own starship, only was this kind of flight vehicle structure nearly entirely alike which constructed with the humanity, obviously the kind of person robot wisdom and the thought and the humanity were how close!

当混血区域长官混为一谈和黑区长官黑德曼，在会议结束后一起火速赶到的时候，已经有数百架星际飞行器被击落，但这种轰炸，确实严重干扰了类人机器人的飞行器建造速度，然而此时类人机器人利用月球环形山基地内的大量剩余物资已经制造了几百架自己的星际飞行器，只是这种飞行器的结构几乎和人类建造的一模一样，可见类人机器人的智慧与思维和人类是多么的相近啊！

For example, the robot football game is now the venue in accordance with the provisions of the International 1.5 meters × 1.3 meters space, the venue has the center line, there are doors, each soccer robot body in accordance with international requirements of no more than 7.5cm × 7.5cm × 7.5cm., robot car is responsible for the red golf ball crashed into the goal.

比如现在的足球机器人比赛的场地按国际的规定为1.5米×1.3米场地，场地上有中线，有门区，每个足球机器人的车体按国际的规定不超过7.5cm×7.5cm×7.5cm。，机器人小车负责把红色的高尔夫小球撞进球门。

Focusing on the unique characteristics, multi-driven and structure-alterable two-vehicle, of the dexterous window-cleaning robot, this paper puts forward a completely distributed robot system with cell structure and distributed intelligence.

本文针对灵巧擦窗机器人的多驱动、可构形双车体的特点，提出了一种&单元结构、分布智能&概念的完全分布智能式机器人体系结构，并且，在此基础上对灵巧擦窗机器人控制系统的实现结构、全局规划、运动学模型、镇定和跟踪、分布式软件结构和实现、硬件系统的研制等方面的问题进行了深入的研究。

In addition, this method is used in the motion control study of spinning machine tool, and achieve good control effect

机床的工作台可视为直角坐标型的机器人，这类机器人是近似线性系统，可以采用比较复杂的迭代学习控制方法，因此，本文提出了弹性移动关节机器人的混合PID迭代学习控制律，证明了该方法的收敛性，并将这种方法应用于旋压机床的学习运动控制，达到了良好的控制效果。

Our company has developed many patented technologies and equipment used in car plant's such as automatic or semi-automatic waxing application, door panel and roof ditch sealing application by robot, internal and external car body sealing application by robot, noise damping materials coating application by robot, etc.

公司开发出很多项专利技术和设备应用于汽车厂的自动或半自动喷蜡、机器人的门槛和顶棚沟槽密封、机器人的车身内部和外部的密封、机器人的隔音降噪阻尼材料喷涂等

In this paper, the formation control and obstacle avoidance problems are dealt with a unified control algorithm, which allows the follower to avoid obstacle while maintaining desired relative bearing or relative distance from the leader.

摘要在这篇论文中，我们利用一个统一的算法框架来解决移动机器人的队形控制和主动避障问题，使得编队中的从机器人在避开障碍物的同时，能够与被跟踪的主机器人保持期望的相对距离或相对方位。

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。