空间机器人

This study is very important to offline programming of arc robot in spaced welding.

这一研究对空间曲线的弧焊机器人离线编程提供了重要的技术支持。

The movement simulation of the robot is made in the space of joint and the space of Cartesian coordinate.

并进行机器人关节空间和直角坐标系下的运动仿真。

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。

The more detail of researches and results are shown below:(1) In coverage planning of unknown environment, sliding algorithm is improved to incremental style, then it is combined with some strategies of circumnavigation and randomly walk etc.

相比于传统滑动算法，增量算法使得构型空间可以从局部逐渐构建，并且可用于多机器人系统，大大提高了效率。（2）设计了一种改进的基于近似Voronoi图的GVD算法。

The method of global path planning is addressed in the configuration space gained after obstacle expanding.

在基于等效尺寸进行障碍物扩张后得到的位形空间内，研究拖挂式移动机器人的全局路径规划问题。

Robot path planning is to give a collision free path or shortest path of a moving robot.

由于空间中的机器人以及各种物体可以通过空间中的多面体加以模拟。

While the idea and the prototype of the three-degree-of-freedom motor came into being, it is more convenient to realize the motion of the robot joint where the demand on workspace is low but three DOF is required. It also combines the merits of simplified system construction, minimized machine volume, improved dynamic and static performance with high position accuracy.

三自由度球形电机设计概念及样机的出现，使得机器人关节的空间三维运动可以在一个较小的工作空间中完成，简化了系统结构，减小了机构体积，有利于提高系统的动、静态性能和定位精度。

By using standard ideas from Lie groups and Lie algebra, the recursive formulation and the Lagrangian formulation were presented.

采用李群和李代数的方法来描述牛顿—欧拉方程和拉格朗日方程，得到机器人动力学在关节空间和操作空间内单个连杆的递推公式以及整个系统动力学方程的矩阵表达式。

What's more, therelationship is built up between the joint space of robot and theworld space.

基于几何投影原理推导出相应的逆运动学模型，求出了各个关节的角度值，建立了机器人关节空间与世界空间的映射关系。

A friction compensation algorithm based on the feed-forward and fuzzy theory is implemented after analyzing the friction characteristic of HIT-1 dextrous robot hand.

在基于指尖力的阻抗控制中，定性分析了摩擦力对自由空间中的位置跟踪和约束空间中的力控制的影响，并结合HIT-1机器人灵巧手摩擦力的具体特点，提出了前馈加模糊的摩擦力补偿方法。

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。