空间机器人

This module has the function of universal joint, but is simpler to implement and easier to control.

针对蛇形机器人最常采用的三种关节连接方式：平行连接、正交连接和万向节连接，通过典型实例进行了工作空间的分析和比较，提出了一种具有万向节功能的P-R模块。

Since the welding torch pose has an important effect on the quality and appearance of weld seam, the optimization of welding torch pose fo...

鉴于焊炬姿态是影响弧焊质量和焊缝成形的一个重要因素，本论文对弧焊机器人空间全位置焊接条件下焊炬姿态的优化进行了系统的研究。

The stable grasp and equilibrious grasp abilities of a robot hand are discussed.

本文利用力旋量空间研究机器人抓持能力的度量问题。

The control problem of space float zero point is discussed using the example of an one dimension float zero point control from which a conception of parametrical sense is put forward.

从一个一维的模糊浮零控制的实例出发，探讨空间模糊浮零的控制问题，提出参量传感的概念，本参量传感模型可运用于机器人作相对运动的研究之中。

Machining process and general information:· General Information – Tooling o Plan to have own engineering group as company expands o Hwasung is subcontracted to do engineering currently o Uses same cutting tools as in Korea facility – all diamond o Regrind tools if can o Hwasung has capability to surface grind, repair dies, and make molds with wire EDM process · General Information – Machining o Boundary samples are used: okay, borderline, not good o Quality room has separate windows for incoming and outgoing parts o New equipment will be coming in from FM LaGrange plant o Each operation has pictures and job instructions for what to check and which gage to use to check part o Parts are manually loaded into machine or pallet, depending on line o Auditor checks parts for verification: after operator checks part, puts in bin, auditor checks part and reloads back on line o Have tool management system o A pokeyoke check is used for orientation prior to loading o Machines are guarded o Mostly have CNC machines o Manual chip collection systems o If automated, have robots with grippers to load/unload parts from pallets o After final inspection, operator visually inspects and loads onto plastic dunnage with the crown up and loads into the washer o Repairs: filing down of burrs or sharp edges after anodizing the crown o Have 2 Excello machines for special machining of the pin bores o 2.7% scrap for gasoline pistons o Cycle time is 18 seconds for gasoline piston o Process – Wash o Spray system o 4 stations: heated wash, wash with degreaser, 2 rinse stations o Uses RO water o Operator blow dries piston and puts on dunnage with crown up o Parts wheeled into coating room o Needs major improvements here o Chemical analysis done for bath in chemical room o Comments/Observations: o Relatively small piston facility, but plans for additional space.

加工工艺和一般信息：·–的一般信息工具 o 有自己的工程集团，随着公司的扩展计划 o Hwasung 是分包做当前工程 o 用途相同的扦插工具，如在韩国设施–所有钻石 o 回收料工具如果可以 o Hwasung 已表面研磨，修复模具，和模具丝电火花加工能力过程·一般信息–加工 o 界限示例用于：好交界，不好 o 质量房间有单独的窗口传入和传出的部件 o 新设备会在来从调频拉格朗日植物 o Each 操作具有图片和工作说明的什么复选，计为使用检查部分 o 部件是手动加载到机器或托盘，取决于行 o 审计检查验证零件：置于 bin，运算符检查部分后，核数师检查部分并重新加载回行上 o 有工具管理系统 o 为 pokeyoke 复选用于在加载之前的定位 o 机被保护 o Mostly 有数控机床 o 手动芯片收集系统 o 自动，如果有与要加载/卸载部分从托盘 grippers 机器人 o 后最终检验，运算符将直观地检查并加载到与塑料衬垫冠了与到洗衣机负荷 o 修复：提交下毛刺或锋利的阳极氧化冠后 o 有 2 Excello 机特别加工的销孔 o 2.7%废料的汽油活塞 o 周期时间是为汽油活塞式 18 秒 o 过程–洗 o 喷射系统 o 4 站：加热洗、与脱脂剂洗、 2 冲洗站 o 使用反渗透水 o 运算符吹干活塞式并将了放冠衬垫 o 部件轮式进涂层房间 o 需要重大改善在这里 o 为在化学的房间里浴做的化学分析 o 注释/结论： o 相对小活塞式设施，但额外的空间的计划。

Industrial robots have been widely applied in automation manufacture fields for their high repeated precision in structureless and complicated workspace.

工业机器人以其高重复精度，适应于复杂工作空间而广泛应用于工业自动化生产领域。

Such robots will be like soft animals that can squeeze themselves through small openings and into tight places.

这类机器人会像软体动物一样压扁自己来通过小开口和进入狭小的空间。

Some atlases of simple motion routes in workspace are set up, which will be helpful in robot trajectory planning.

给出了其工作空间中单纯性运动路径的图谱，以方便机器人路径规划

During the composition of this dissertation, all people in the world are focusing on the NASA's "Opportunity" and "Spirit" Rovers exploring the Mars and sending the data and pictures back to earth, and achieving great success. Many governments express their interesting to explore the outer space. It is clear that the telerobotics is the technical zenith which congregates both high technical talents and high technology and every governments chasing after.

在作者撰写论文的过程中，全世界都正在关注美国的两个火星探测车&机遇&号和&勇气&号登陆火星进行科学实验，并成功地回传了图像和实验数据，获得了巨大的成功，各国纷纷表示出探索外层空间的兴趣，可见遥操作机器人是当今高科技和高技术人才汇集、各国竞相抢占的技术制高点。

First,a landmark model is designed to give position information;second,color segmentation,invariance of cross-ratio and the self-adaptive window are used to detect the artificial landmark,so the position information is got;finally,in order to locate the mobile robot accurately,the binocular stereo vision is used by combining with the position information of artificial landmark.

首先设计了一种可扩展的彩色人工路标，并给出路标的编码方法；然后利用色彩空间变换，直线交比不变性以及自适应窗口实现路标检测与识别；最后在分析双目立体视觉模型的基础上建立起基于路标的双目立体视觉定位模型，实现移动机器人的准确定位。

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。