查询词典 robot pilot

The dissertation systematically analyses RV-M1 robot which is used in this study, thoroughly dissects the hardware and software of RV-M1 robot's controller, upbuilds RV-M1 robot's model and coordinate system, develops the robot's forward kinematics formulation, solves the robot's kinematics negative problem, develops RV-M1 robot's dynamic formulation in Lagrange-Euler form, does linearization about robot's dynamics model, and gets this robot's sign solution In order to solve practical problem in the process of robot automatic polishing, this dissertation makes some beneficial researches and trials.

本文比较系统地分析了本论文研究中采用的RV—M1型机器人，较为详细地剖析了RV—M1型机器人系统的控制器硬件、软件，建立了RV—M1型机器人模型及其坐标系，推导出了该机器人的正向运动学方程，并对机器人的运动学逆问题进行了求解；推导了RV—M1型机器人的Lagrange—Euler形式的动力学方程，对机器人的动力学模型做了线性化，给出了该机器人的符号解。

A novel cable climbing robot applied to cable maintenance was introduced. It is centered orientable wheel-based, omni-directional cable climbing robot. The climbing mechanism of the robot and its working process were described. The driving force needed was analyzed, and the critical force needed for maintaining robot staying cable was calculated. The eccentricity allowed between center of robot and cable axis when the robot moving on inclined cable was discussed, and the least eccentric magnitude was calculated.

提出了一种应用于缆索维护的爬缆机器人机构实现方案，该机器人采用中心可转向的轮式驱动；介绍了机构组成及工作原理，在建立缆索曲线约束模型的基础上分析了机器人的驱动力，计算出了机器人能够在斜缆上工作所需要的临界驱动力；讨论了机器人在斜缆上工作时机器人轴和缆索轴不重合而出现偏心的原因，提出了减小偏心的方法，并计算出了为保持机器人对斜缆的适应性所需要的最小偏心量。

In this paper, the theory studies, digital simulation and microcomputer control experiments to a robot have proved that the AFDC system of robot has signally effective intelligent dynamic control functions and makes robot to have excellent dynamic response performances and motion accurary by measuring only input and output of the robot, and that the system structure and control algorithm is more simple, reliable, and more easy to be used on common microcomputer then another high-level dynamic control systems of robot.

文章在理论研究、仿真控制和机器人的微机控制试验方面的研究工作表明，文中提出的机器人自适应模糊动态控制系统既具有显著有效的智能动态控制功能。能在仅测量输入-输出信息条件下，保持机器人取得优秀的响应性能和运动精度；又在结构和算法上比一般的高级机器人动态控制系统更简洁、可靠和易于在普通微机上实时在线实现。

Kinematics and dynamics modeling and analyzing method of a 3-RRRT parallel robot was studied. Kinematic model of the 3-RRRT parallel robot was set up with both the branch bar's relative coordinates and movable platform's absolute coordinates used as it's generalized coordinates. On the base of Kane's equation, dynamics model of the 3-RRRT parallel robot was built. Dynamic Numerical simulation of the 3-RRRT parallel robot was finished by using Matlab software, and so it provides valuable reference for motion control strategy of the 3-RRRT parallel robot.

研究一种3-RRRT新型高速搬运机器人运动学与动力学建模及分析方法，以支链构件相对运动坐标和动平台绝对运动坐标作为广义坐标，建立了3-RRRT型并联机器人的运动学模型，结合带乘子的凯恩方程建立了3-RRRT型并联机器人的动力学模型，并利用Matlab软件平台进行了动力学数值仿真，进而为3-RRRT型并联机器人的控制策略研究提供参考。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

In this paper RoboCup Mid-size Robot are the object of study from the two sides of the robot system and the system of multi-robot cooperation, the main research results are as follows: First, this paper reasearches the problom of the hardware and software architecture of Mid-size robots. According to the real-time requirements of the competition, the paper designs the mechanism of omni-direction wheels, which achieves a great improvement on the traditional mechanism of two wheels robot, and a more flexible response. This mechanism can adapt well to the increasingly rapid pace of the competition. In allusion to the mechanism of omni-direction wheels, this paper designs the electrical control system of three nodes in the bottom, which could communicate fast to the laptop with serial port and match the real-time requirements well. According to the problom of hitting power and speed of robot when shooting, this paper designes a motor-driven tongue-shaped spring shooting mechanism, which has a simple mechanical structure, smaller space in size and simple control circuit. This shooting mechanism meets the real-time requirements of the competition better.

本文以RoboCup中型机器人作为研究对象，分别从机器人自身系统和多机器人协作系统两个方面进行了研究，主要研究成果如下：首先，研究了中型机器人的软硬件体系结构问题，针对实时比赛的要求，提出了万向轮机构的设计方案，大大改进了传统两轮机器人结构，动作反应更加灵活，该机构能够很好的适应节奏越来越快的比赛；针对万向轮机构，设计了3节点的底层电机控制系统，它可以通过串口与上层笔记本电脑快速通讯，能够很好的实现实时工作要求；针对机器人射门时击球力量和速度的问题，设计了一套电机驱动的舌形弹簧射门机构，机械结构简单，占用空间体积小，控制电路简单，较好的满足了比赛中实时射门的要求。

The paper investigates both block-type pilot linear minimum mean square error algorithm and IEEE802.16 OFDM channel estimation analysis. Simulation results confirm the block-type pilot structure is more suitable for IEEE802.16 system. An optimal pilot setting algorithm, based on space frequency domain, is explored and the pilot chart is presented. The proposed algorithm finds its application in MIMO-OFDM. Simulation results show the algorithm presents a good approximation to the perfect channel state information curve, with about 2dB difference in SNR. The simulation results also demonstrate the algorithm achieves fairly high stability in the environment of fast fading, performance of the proposed algorithm is better that of pilot training channel estimation.3. Taking into account the characteristics of IEEE802.16 OFDM system, OFDM system simulation platform is constructed in Matlab, exploiting simulink as a tool. OFDM modulation and demodulation simulation system are configured on LabVIEW platform. All the system signal processing is simulated, including defining system parameters, designing modulation model, and verifying all the proposed algorithms under different environments, such as white Gaussian noise, multi-path fading, with or without guard interval etc. Bit error performance is evaluated. The research provides valid theoretical basis for practical OFDM system performance evaluation.4. Taking advantage of software radio, the paper designs a hardware platform with both 256-IFFT/FFT and 512-IFFT/FFT OFDM schemes co-existing in one platform. You can predetermine one from the two schemes to carry out almost the same model function with different system performance and parameter setting.5. Referring to IEEE802.16 standard, the paper proposes a design method for generating signals and frames suitable for laboratory investigations implemented in laboratory environment.6. Based on 6701evm digital evaluation card, combined with analogy front-end, the paper designs a DSP software model to deal with baseband signal processing. An overall OFDM scheme, with modulation and demodulation function, is accomplished.

讨论分析了MIMO-OFDM中一种基于空频域的最优导频设置算法，给出了导频图案，通过仿真实验表明，该算法与理想的信道状态信息曲线非常接近，信噪比差距约在2dB左右，并且在快衰落条件下具有较好的稳定性，其性能要优于基于前导训练的信道估计方法。3、根据IEEE802.16OFDM系统特点，论文分别在Matlab中应用Simulink工具构建OFDM系统仿真平台、在LabVIEW平台上实现了OFDM调制解调仿真系统，模拟了整个系统的信号流程，进行了OFDM仿真系统参数的选择和调制模块的仿真设计、论证各算法性能，并根据各种不同的条件：例如高斯噪声、多径衰落、有无保护间隔等，对系统的误码特性进行了评估，为正确评价实际OFDM系统的性能提供了有效的理论依据。4、论文以软件无线电思想作为指导，提出了以256点IFFT／FFT为核心和以512点IFFT／FFT为核心的两种OFDM算法模式并存于同一个硬件平台、且可预选的方案，它们在参数选取和性能指标上有所差异，均实现了相似的模块和功能。5、论文参考IEEE 802.16无线网络标准的参数设置，针对本设计系统的应用环境和系统硬件的性能速率，提出了一种应用于实验室环境的信号结构、帧格式等参数设计。6、论文基于TI公司的6701evm数字评估板卡，结合模拟前端搭建数字中频平台，设计了基带处理的DSP软件模块并进行系统调试，基本实现了一套完整的OFDM调制解调方案。

This paper research some problem of the tracked mobile robot' s path planning and tracking. There are some points as follows: 1 Introduce the airmanship technology and presently research situation in path planning and path tracking of the mobile robot, introduce the robot' s sensor system, analyze kinematics character of the tracked mobile robot.

本文就履带式移动机器人路径规划和路径跟踪的一些问题开展了如下工作： 1、介绍了移动机器人的导航技术和目前路径规划和路径跟踪的研究状况，介绍了机器人的传感器系统，并分析了履带式移动机器人的运动学特征。

Firstly, based on the characteristics of Vision-Based Remote Brainless SoccerRobot System, a kind of centralized-distributed soccer robot decision-making controlstructure is put forward by a high level decision module processing centralizeddecision-making and robot agent can respond to the environment under high-leveldecision module coaching, while acting autonomously. Secondly, the differential drive mobile robot kinematics model is set up and amotion control algorithm is developed, which allows a general differential-drivenmobile robot to accurately reach a target point with a desired orientation in anenvironment with multiple moving obstacles.

本文首先针对基于全局视觉的足球机器人系统的特点，综合人工智能自上而下和自下而上两种研究方法，提出了一种混合式足球机器人决策结构，即通过一个全局性高层决策模块来决定机器人团队当前队形、战术以及智能体与角色间的映射关系，然后将高层决策结果通知各个队员智能体；队员智能体根据高层决策模块的指示及自己的知识进行反应式的思考和行动。

Convert relationship of prototype robot joint angle and equivalent model joint angle is presented based on the method of kinematics inverse solution. The Jacobian algorithm of redundant robot for achieving effective joint excursion is studied, which is fit for digital calculating. The grads projection algorithm of redundant robot multi optimizing capability function's proportion factor is deduced. The issues of apery arm robot singularity and joint self-movement are researched. The simulation experiment result of apery arm joint self-movement and line movement is presented.

因为七自由度拟人手臂机器人的建模比较困难，采用了在等效模型下求解其运动学逆解的方法，给出了原机器人机构关节角与等效模型关节角之间的转换关系；提出了一种适于数值计算的有效的求解有关节偏置的冗余度机器人Jacobian的算法，并在此基础上推导了冗余度机器人多优化性能指标函数的均衡比例因子梯度投影算法；研究了拟人手臂机器人的奇异问题和关节自运动问题；给出了拟人手臂进行关节自运动和进行直线轨迹跟踪的仿真实验结果。

If you were not , and OS X just booted normally, have no fear.

如果你没有，和OS X刚刚启动通常，没有恐惧。

I only want to preserve our all .

我只想保存好我们的一切