空间机器人

The bifurcation theory on dynamic systems is introduced to the study of the basic geometric properties of redundant robots.

在冗余度机器人机构综合方面，首次提出了根据杆参数的分叉特征，设计工作空间内部无不可避奇异的机器人杆参数的新方法。

In other words, localization can be performed based on a general scene. In this thesis, we adopt Spatial Gaussian Mixture Model in image segmentation to describe an image viewed by the robot in spatial domain without any artificial landmark. Secondly, we use a modified combination algorithm by Cyr and Kimia to combine similar data. It is found out that a monotonic relationship exists among the scene registered and its neighborhood in terms of distance. This phenomenon can be used to assist to localize the robot and this work demonstrate the feasibility by several experiments.

本论文中采用高斯混合模型(Gaussian Mixture Model， GMM)来描述空间中的场景，将场景概念化，这样任意的场景皆可以用高斯混合模型来表达，而无需加入大量的人工场景，接著将所获取的每个希望校正点的资料采用由修改后的Cyr and Kimia的结合演算法来减低及统合资料，当场景接近原本的当初建立的场景，经由最大可能性大体上会呈现单调的特色，将辅助机器人修正回原本的位置，以达到协助机器人定位的目标。

The stoical and global environment is given, which is abstracted with grid method before the workspace model of the robot being built. With the adoption of the ant colony algorithm, the foraging behavior of ant colony is simulated. According to the optimization condition, the robot tries to find a path which is optimal or optimal-approximate path from starting point to goal, that is global path planning.

本文讨论的机器人环境为静态全局环境已知，通过栅格法对已知环境进行抽象，建立机器人工作空间模型，并采用蚁群算法，模拟蚂蚁觅食行为，根据优化条件搜索出一条从指定起点到终点的最优或近似最优路径，即全局路径规划。

The wall-climbing micro-robot that is discussed in this thesis is a special type of robot, which is driven by means of permanent magnetic field and mutual effect of electromagnetic field, has the characteristics of small volume and flexible control, can convenient enter narrow space, pipeline and big magnetizer where it is difficult for people to reach.

本文研制的微小步行爬壁机器人是一种特种机器人，它采用永磁场和电磁场相互作用的驱动方式，具有体积小，驱动控制灵活的特点，便于进入狭小空间、管道以及人难以到达的导磁面，完成各种检测工作。

The detail contents can be summarized as follows: Using Grassmann line geometry method to analyze joint axes linear dependence in manipulator singular configurations; The manipulator constrain equations are derived base on the reciprocity of twists and wrenches; The null space method is used to obtain the reciprocal screws when singularity occurs.

具体内容包括以下几个方面：用Grassmann线几何方法分析了机器人机构奇异时关节轴线的线性相关性；用螺旋理论推导出了基于力螺旋和运动螺旋表示的反螺旋约束方程式；用零空间理论求出了机器人奇异位形的反螺旋。

In order to acquire the real coordinates of the robot,a radial basis function neural networkis applied for mapping the robot's coordinates in image plane to them in real space.

中文摘要：遥操作中采用全局摄像机对机器人进行定位时存在图像畸变带来的误差，针对这一问题提出了一种图像畸变校正方法，该方法采用径向基神经网络进行畸变校正，从而获得机器人在实际空间中的坐标位置。

Because of the restriction in capability and space for single robot, multi-robots come in to being.

因为有许多工作（如在时间和空间上分布很广的任务）单个机器人无法承担，因此多机器人的出现应运而生。

Based on the discussion,a simple and clearly defined vector equation of kinematic error for robots,has been derived for practical use by means of space vector,characteristicsof space vecto...

据此，利用D-H 坐标变换与空间矢量的关系，以及空间矢量导数性质，推导了简洁实用、意义明确的机器人运动误差矢量方程，并就该方程在一般空间机构运动精度研究时的应用实例作了说明。

The robotic Denavit-Hartenberg theory was firstly introduced to describe the Tooling virtual assembly procedure. Then the Tooling assembly mathematical model was established based on the Denavit-Hartenberg inverse kinematics and virtual assembly space constraint relationships for describing the position of robots theory in 3-D space. And to solve the problem of length discontinuousness of standard parts, the position adjustment strategy for Tooling vacuum group was studied and presented.

首次引入机器人运动学Denavit-Hartenberg模型，基于反向运动学原理和虚拟装配的空间约束关系，建立了Tooling空间装配的数学模型，并根据Tooling装配所用标准件长度不连续的特点，进一步给出了Tooling吸盘组件的空间位置调整策略。

The mechanism of some typical hexapods has been discussed, the advantages and backwards of it have also been analyzed. 2 Workspace analysis is a very important aspect of mechanism analysis.

工作空间是并联机器人机床的重要指标，为了方便、快速地求得并联机构的工作空间，提出了基于并联机构运动学逆解的工作空间极限边界数值搜索算法。

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。