机械手

This paper also analyzes control problem in cartesian space and presents several improved indirect methods , to counter kinematic uncertainty ect.. Then, a sliding mode control and an adaptive control are proposed as direct cartesian space control scheme. All of them has been extended to redundant manipulator.

本文研究了机械手工作空间控制问题，提出了考虑具有不确定运动学参数等多种改进的分解运动控制方案，它是机械手控制的间接方法，进一步本文又提出了滑动模及自适应两种分别考虑运动学及动力学不确定性的工作坐标直接控制方案，它们均被推广至具有冗余自由度的机器人控制中。

Based on the theory of robotics, manipulator's kinematics equation is established and inverse kinematics analysis and calculation is made by algebraic solution after simplification, besides, Cartesian-space schemes, working space and singularities are also taken into account.

在机器人学的理论基础上，使用D-H方法建立了机械手的运动学方程；通过问题简化，利用代数解法，进行了逆运动学分析和计算，并对机械手进行了笛卡尔坐标轨迹规划，为后续控制系统的设计及机构运动仿真提供了依据；分析了机械手的工作空间、奇异性；介绍了建立机器人动力学方程的常用方法。

The working principle of a pump rod joint is to place the joint hoop bar stock into the stock bin. When the magic hand moves to the material receiving, with the help of gravity action, the bar stock automatically fall to the magic hand. When the pneumatic cylinder drives the magic hand to move to the designated location of the turning fixture, with the live center of the pneumatic tailstock automatically sent, the bar stock will be fixed between the apex of the lathe and the live center of the pneumatic tailstock. Then the magic hand automatically returns to the charging position with a single charging action completed, and prepares for the next charging.

它的工作原理是先将接箍棒料放置于料仓内，当机械手运动到接料位置时，棒料由于重力作用，自动掉落到机械手中，通过气缸带动机械手运动到指定车削位置时，尾座活顶尖自动送出，将棒料固定于机床顶尖与尾座活顶尖之间，机械手自动返回装料位置，完成单次供料动作，为下次送料做准备。

A type HUST 8F master/slave telemanipulator system developed by the authors is described, which consists of a manipulator with automatic tool exchange, tools, tool holsters, a master manipulator and micro processor control system.

介绍了能有效提高机械手的作业能力的HUST8F主／从遥控机械手系统，它由具有自动更换工具功能作业机械手、工具、工具库、主操作手和微机控制系统组成。

Aiming at the dynamic nonhomogeneity and kinematic redundancy, making reference to the actions of human beings, we propose a new hierarchical approach of coordinated path planning for mobile manipulateors, and a dynamic weighting strategy, which can avoid obstacles and get the best results of optimization.

针对移动机械手的动态不均匀性及运动冗余性，参考人类完成任务时的行为，本文提出了一种分级协调路径规划法，以及一种动态加权的优化策略，对移动机械手的路径进行离线规划，在避障的前提下保证了移动机械手性能指标最优。

Based on practically stable principle, this paper extends the concept of sliding mode to sliding zone attraction and presents a new velocity observer for robotic tracking control It can guarantee observational error is irrelative to motion trajectory. By means of it, a robust controller is further derived.

本文基于实际稳定性原理，推广了滑动模控制，提出了滑动域吸引性设计思想，并以此设计了机械手速度观测器，以及基于观测器的机械手输出反馈控制系统，与以往观测方案不同的是，这一观测器可以保证其观测误差与机械手运动轨迹无关。

The paper institutes two control schemes of PLC according to the work flow of the manipulator. The paper draws out the work time sequence chart and the trapezium chart.

利用可编程序控制器对机械手进行控制，选取了合适的 PLC 型号，根据机械手的工作流程制定了可编程序控制器的控制方案，画出了机械手的工作时序图，并绘制了可编程序控制器的控制程序。

In X, Y coordinates, conventional pneumatic switching valves combined with rodless cylinder and positional controller can achieve precise location of positioning in arbitrary itinerary (positioning accuracy achieved±0.5mm).

气动机械手的控制系统，由PLC和PC机两部分组成。PLC作为下位机，实现对气动机械手各电磁阀和专用位置控制器的直接控制以及运行位置的信息反馈等； PC机作为上位机，实现对PLC控制命令的发送和整个机械手运行状态的监控。

The manipulator uses PLC to control.The paper institutes two controls chemes of PLC acordine to the work flow of the manipulator.The paper draws out the work time sequence chart and the trapezia chart.What's more,the paper work out the control program of the PLC.

利用可编程序控制器对机械手进行控制，选取了合适的PLC型号，根据机械手的工作流程制定了可编程序控制器的控制方案，画出了机械手的工作时序图和梯形图，并编制了可编程序控制器的控制程序。

As a practical application of the research results in this paper, the feasibility of applying robust exponential convergence to cotton-picking robot is studied with the parallel axis binocular computer vision model, and the research results show that even with large modeling errors, the controlling manipulator also has good dynamic property and sufficient high stability.

最后本文进行了基于平行光双目视觉模型和鲁棒指数收敛法的机械手采棉可行性研究；研究结果表明，在存有较大模型误差的情况下，机械手仍然具有良好的动态特性以及足够的稳态精度，本文研究的控制方法能够用于采棉机械手。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。