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简介：一个概括控制器基于不可思议地使不安的系统的稳定性理论被建议，到在机器人轨道追踪处理围住的致动器输入的问题控制。有错误获得矩阵的浸透功能在转矩控制法律被使用，它在任何给定的有限范围保证转矩输入的上面的界限。通过适当地设置错误获得矩阵的条目，追踪的性能能被改进。而且，一个假信号从一个线性过滤器被产生代替实际速度错误，为速度大小消除需要。最后，验证概括控制器的有效性，有error-gain-contained弧正切功能的一个新浸透的控制器被设计。建议控制器能严格地保证转矩的界限得到的比较实验表演与非零处于状况输入起始的追踪错误，并且比另外的控制器给更好的追踪结果。

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简介：Humanoidrobotscanalreadyrun,dance,andcarryonconversations,Inthefuture,theymaybeevenmoreuseful,workingasnursesorfirefighters.Above,arobotnamedSonnyisthekeytoaconspiracythatcouldthreatenthehumanraceinthemovieI,Robot.

简介：为打印应用程序的工业大3D的一个新奇7轴机器人在这份报纸被介绍，它被机器人学和自动信息系统的研究所开发，Nankai大学。原型上的底，三维的打印上的机制深深地被把。由在打印的3D调查颜色失真的原因，一个新奇multistep赔偿算法基于模型优化和图象赔偿被开发。最后，试验性的结果显示出打印机器人站台和建议算法的3D的表演。

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简介：Thispaperpresentsthedevelopmentofamesoscaleself-containedquadrupedmobilerobotthatemploystwopiecesofpiezocompositeactuatorsfortheboundinglocomotion.Thedesignoftherobotlegisinspiredbyleggedinsectsandanimals,andthebiomimeticconceptisimplementedintherobotinasimplifiedform,suchthateachlegoftherobothasonlyonedegreeoffreedom.Thelackofdegreeoffreedomiscompensatedbyaslopeoftherobotframerelativetothehorizontalplane.Fortheimplementationoftheself-containedmobilerobot,asmallpowersupplycircuitisdesignedandinstalledontherobot.Experimentalresultsshowthattherobotcanlocomoteatabout50mm·s-1withthecircuitonboard,whichcanbeconsideredasasignificantsteptowardthegoalofbuildinganautonomousleggedrobotactuatedbypiezoelectricactuators.

简介：Robot-basedremanufacturingsystemcanscanthewornpartsanddevelopthecorrespondingmodels,comparethemwiththestandardmodel,calculatethewelddeposit,implementweldingpathplanning,andrepairthewornpartswithMIGsurfacingautomatically.Thispaperinvestigatestheweldingpathplanningaftercalibrating,scanningandmodelrebuilding.Thefollowingaspectsarecontained:introducingtheplanningprinciple,selectingthesuitableweldingprocessbasedonweldingparameters(currentandspeed),calculatingweldingoverlapquantitybythesuperpositionmethod.Also,ithasbeenverifiedthatgoodweldprofilecanbeobtainedwiththeoptimizedparameters.

简介：Theprocessthattreeconeacquisitionrobotgetsconeshasbeensimulatedwiththeprocessthathumanbendsorstretcheshisarmsinsomeload.Andthentheshaftdrivingforcesimulationoftreeconeacquisitionrobotinthewordingprocesswasanalyzedaccordingtobiomechanicslawsbysystemmodelingsimulationanalysissoftwarethatisusedincurrentpopular.Theforcesoftheshaftsatshoulderjointandelbowjointoftherobotwereanalyzed,meanwhile,werecalculatedanddrewupthefiguresbyusingMaplesoftware.Finally,theanalyticalresultsverifiedthecorrectnessofthetheoryanalysiswithSolidDynamicssoftware.Andfromthestudy,thefindingsprovideimportanttheoryandparametersforimprovingthetreesconesacquisitionrobot.

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简介：SLAMisoneofthemostimportantcomponentsinrobotnavigation.ASLAMalgorithmbasedonimagesequencescapturedbyasingledigitalcameraisproposedinthispaper.Bythisalgorithm,SIFTfeaturepointsareselectedandmatchedbetweenimagepairssequentially.Afterthreeimageshavebeencaptured,theenvironment’s3Dmapandthecamera’spositionsareinitializedbasedonmatchedfeaturepointsandintrinsicparametersofthecamera.Arobustmethodisappliedtoestimatethepositionandorientationofthecameraintheforthcomingimages.Finally,arobustadaptivebundleadjustmentalgorithmisadoptedtooptimizetheenvironment’s3Dmapandthecamera’spositionssimultaneously.Resultsofquantitativeandqualitativeexperimentsshowthatouralgorithmcanreconstructtheenvironmentandlocalizethecameraaccuratelyandefficiently.

简介：Bexauseofthespecialunderwaterenvironment,manysensorsusedwellinrobotsworkinginspaceoronthehandcannotbeusedintheunderwater.Soanopticalfibertypeslidetactilesensorisdesignedbytheinnermodulationmechanismoftheintensitytypeopticalfiber.Theprincipleandstructureofthesensorareintroducedindetail.Thestaticanddynamiccharacteristicsareanalyzedtheoreticallyandexperimentally.Thedynamiccharacteristicmodelisbuiltandthesimulationismadebyusinggeneticalgorithmbasedonneuralnetwork.Inordertousethesensorperfectly,therecognitionmodelofthesensorisbuiltonthebasisoftheprincipleof“inversesolution”usingneuralnetworks.Thecontrolprecisionandsensitivityofthemanipulatorareimproved.

简介：在这份报纸，混合自动优化策略为设计被建议在水下机器人线。Isight作为一个集成平台被介绍。这个平台的构造包括UG6.0，GAMBIT2.4.6和FLUENT12.0基于用户编程和几个商业软件。一个聪明的参数优化方法，粒子群优化，被合并到平台。为了验证策略，求婚了，模拟被进行在上在水下机器人为5470建模，它从DTRCSUBOFF工程发源。与自动优化平台，最小的抵抗作为优化目标被拿；是的湿表面区域限制条件；象设计变量的船身前半部，最大的身体半径和船体后部最小半径的长度。随CFD计算，RANS方程和标准骚乱模型被用于直接数字的模拟。由模拟结果的分析，平台效率高，这被结束。通过平台，为线的设计的许多计划被产生，最佳的解决方案被完成。聪明的优化算法和数字模拟的联合保证一个全球最佳的答案并且改进寻找的答案的效率。

简介：当察觉到环境时，一个类人动物机器人被察觉到的信息总是充满，；计算通常需要重要时间；处理察觉到的信息。在这篇论文，一条选择基于注意的上下文的感觉途径被建议让类人动物机器人与高效率察觉到环境。首先，注意窗户(AW)的涵义被扩大做一个更多的将军；AW的抽象定义，；它的四种操作；声明转变也被讨论。第二，注意控制政策被描述，它集成指导目的的感性的对象选择；错误答案抑制，；能处理突现的问题。错误答案抑制被用来过滤无关的信息。最后，注意政策被看作机器人的感性的模式，罐头控制它；调整感觉效率。试验性的结果证明介绍途径能显著地支持感性的效率，；感性的费用能有效地通过采用不同注意政策被控制。

简介：(2) The robot kinematic model using parameters with interval uncertainty,solution of the interval computational model of robot with uncertain geometric parameters,the interval computational model to compute the forward kinematics of robot with uncertain geometric parameters

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简介：Basedonphotogrammetrytechnology,anovellocalizationmethodofmicro-polishingrobot,whichisrestrictedwithincertainworkingspace,ispresentedinthispaper.Onthebasisofpinholecameramodel,anewmathematicalmodelofvisionlocalizationofautomatedpolishingrobotisestablished.Thevisionlocalizationisbasedonthedistance-constraintsoffeaturepoints.Themethodtosolvethemathematicalmodelisdiscussed.Accordingtothecharacteristicsofgrayimage,anadaptivemethodofautomaticthresholdselectionbasedonconnectedcomponentsispresented.Thecentercoordinateofthefeatureimagepointisresolvedbybilinearinterpolationgraysquareweightedalgorithm.Finally,themathematicalmodeloftestingsystemisverifiedbygloballocalizationtest.Theexperimentalresultsshowthatthevisionlocalizationsysteminworkingspacehashighprecision.

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简介：Basedonacontinuouspiecewise-differentiableincreasingfunctionsvector,aclassofrobustnonlinearPID(RN-PID)controllersisproposedforsetpointcontrolwithuncertainJacobianmatrix.Globallyasymptoticstabilityisguaranteedandonlypositionandjointvelocitymeasurementsarerequired.Andstabilityproblemarisingfromintegralactionandintegratorwindup,areconsequendyresolved.Furthermore,RN-PIDcontrollerscanbeofeffectivealternativeforanti-integrator-wind-up,thecontrolperformancewouldnotbeverybadinthepresenceofroughparametertuning.